diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/CHANGELOG.md b/robots/ARX_Robotics_L5_Arm/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..1dd855211b7109922f9eb616ea5889972c811937
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – ARX L5 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-03-20]
+- Initial release.
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/LICENSE b/robots/ARX_Robotics_L5_Arm/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..9ba230aaf03bdc8d991b4a7fd6fdc7fc26b06a1d
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/LICENSE
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023-2025, ARXrobotics
+
+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.
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/README.md b/robots/ARX_Robotics_L5_Arm/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..f8375f71955465bc9d3506f60da8b76c3ded4b19
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/README.md
@@ -0,0 +1,39 @@
+## ARX L5 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from [ARX's official model repository](https://github.com/ARXroboticsX/ARX_Model). The initial URDF can be found at the following [commit SHA](https://github.com/ARXroboticsX/ARX_Model/tree/af6fe43c873008a85bce6195c0f2160f1a1c14ce/X5/X5A).
+
+
+
+
+
+### Derivation steps
+
+1. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Converted the .stls to .objs and replaced the original .stls with them (since each .obj in MuJoCo can have 1 color).
+4. Merged similar materials between the .objs.
+5. Created a `` section to define common properties for joints, actuators, and geoms.
+6. Added an equality constraint so that the right finger mimics the position of the left finger.
+7. Manually designed box collision geoms for the gripper.
+8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9. Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Jonathan Zamora](https://jonzamora.dev/).
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.png b/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f57785d1d36159f32dd5540614c60e8c4e2409f
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763bfd36b7a929eab330073a6343700a56c567daaefff284e174d51d9f1f31e0
+size 1323634
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.xml b/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d058db1be2f0e925be7fe9737bbafde693f1610f
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.xml
@@ -0,0 +1,131 @@
+
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diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/base_link.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/base_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b4592f28efbe247d31ddddb9d77d96a17679e2
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04c95ecfcf001d3bcd43190cca1c5443e98f986a1e57c2ddee7bd28da9d67e09
+size 831334
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/camera.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/camera.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7c3dc5dfc407005f2b7b13e21043a2dcf347ed
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/camera.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1add87c2a03f996ed5304f97ed24a56294d5d32720fda6783a02041c5c03c8f7
+size 835733
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link1.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbe0c9e451f2a7d5ff4827c1a540cea3128982a
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01243ee80f060fe6858e559bcdc5bd2f9b015c018531779b7fb1cd8246a17bd0
+size 379622
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link2.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79250d594a8ab9a730a1f06621ae3622be53e4ea
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade60370ac720c1489ecc1806faf265cc49fd5be4a6057e0b93b7da4c5c398ba
+size 1933493
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link3.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8dde882b9b0971719af799d75e081cf68d72252
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d475ae678a232921da37c893bdfbf2524383622f89808ec356595b134c5525
+size 2144530
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link4.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58cd4b2b11739d2f83e1c580d3083fd587658bb3
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d616632897d7d17fa499423e87f36b9401ec54f117a99685b131989f1b2ce670
+size 406200
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link5.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b76450c06799d71120b242eee4d32850b4eea07
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcc9e83c49d40900f1e5be332db697e47d4f3c9c45555817f6d74abf5b9dd2f
+size 2301371
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link6.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b4e48523ea52e5e338060c95931746022e0ada
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57957e2a042277526ad29d84c608993431a1bdd9b19f71a24d2d161215f27587
+size 1944757
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link7.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f09f2ff920379c9d3dd6e5f334149195b061ebc2
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e74face53b21d37e21a1301707b13b866c58e8edc4212309a22a3350e48dcb56
+size 279721
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/assets/link8.obj b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24241490a65a06cb116e8783122e29b0debd7cf4
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/assets/link8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370731b0450addefe6c6d494dc2ac0246259c8a286d532ea5c225750ecd66740
+size 285359
diff --git a/robots/ARX_Robotics_L5_Arm/mjcf/scene.xml b/robots/ARX_Robotics_L5_Arm/mjcf/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a6f24f0fe2bc4ba1baa9e804fd58f44dcdf46a21
--- /dev/null
+++ b/robots/ARX_Robotics_L5_Arm/mjcf/scene.xml
@@ -0,0 +1,23 @@
+
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+
diff --git a/robots/Interbotix_WidowX_250/mjcf/CHANGELOG.md b/robots/Interbotix_WidowX_250/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..f0d9788680d994059ec5d7d447c6c5fdc9c75f73
--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – WidowX 250 6DOF Description
+
+All notable changes to this model will be documented in this file.
+
+## [2024-06-04]
+- Initial release.
diff --git a/robots/Interbotix_WidowX_250/mjcf/LICENSE b/robots/Interbotix_WidowX_250/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..8df4a42c6d010cb2e25b9c68bbef8c0c26980df6
--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2023, Trossen Robotics
+All rights reserved.
+
+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.
diff --git a/robots/Interbotix_WidowX_250/mjcf/README.md b/robots/Interbotix_WidowX_250/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e36da2b444a5c0c008d3329cbc6519461953a1df
--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/README.md
@@ -0,0 +1,37 @@
+# WidowX 250 6DOF Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.6 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [WidowX 250 6DOF](https://www.trossenrobotics.com/widowx-250) developed by [Trossen Robotics](https://www.trossenrobotics.com/). It is derived from the [publicly available URDF description](https://github.com/Interbotix/interbotix_ros_manipulators/blob/main/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/wx250s.urdf.xacro).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to extract common properties into the `` section.
+4. Used [`interbotix_black.png`](https://github.com/Interbotix/interbotix_ros_manipulators/blob/main/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/interbotix_black.png) to texture the visual geoms.
+5. Added a light to track `gripper_link`.
+6. Removed `gripper` joint.
+7. Added an equality constraint so that the right finger mimics the position of the left finger.
+8. Added extra sphere collision geoms to the gripper for additional contact points.
+9. Added `exclude` clause to prevent collisions between `base_link` and `shoulder_link`.
+10. Added position controlled actuators.
+ * Removed all `actuatorfrcrange` as they were extremely low and affecting the actuation.
+11. Added `impratio=10` and `cone=elliptic` for better noslip.
+12. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/interbotix_black.png b/robots/Interbotix_WidowX_250/mjcf/assets/interbotix_black.png
new file mode 100644
index 0000000000000000000000000000000000000000..34aa9243a703cae027593957290f3a680c618157
--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/interbotix_black.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd224156bbaab1ddf1b92b90d46c54835a8b41f61bc258b2f216c2618e062cf
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diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_10_gripper_finger.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_10_gripper_finger.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_10_gripper_finger.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a459bd4ef07eb5c4687e258bd9564004e741437e2e668af7ed31964567d8f90
+size 22284
diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_11_ar_tag.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_11_ar_tag.stl
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_11_ar_tag.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18a1601074d29ed1d546ead70cd18fbb063f1db7b5b96b9f0365be714f3136a
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diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_1_base.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_1_base.stl
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_1_base.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 75584
diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_2_shoulder.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_2_shoulder.stl
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_2_shoulder.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:337b4cb7e9b637ee3dca6a737becf831fe5f95b790b34f9a97e5cf11475fc222
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diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_3_upper_arm.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_3_upper_arm.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_3_upper_arm.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4550b3a79e83d0ca9e1a65e490ff4e25b667e8a7d8e94bab441851c96eb11fa
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diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_4_upper_forearm.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_4_upper_forearm.stl
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_4_upper_forearm.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a64efc97dc129bc277afee75c129de27721e8fedcad45a4ec8b251f44542f23
+size 30084
diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_5_lower_forearm.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_5_lower_forearm.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_5_lower_forearm.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1445950b7f5ce2cf374b98711df296acd6c2b4df24c3937b413bcb6beb037603
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diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_6_wrist.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_6_wrist.stl
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--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_6_wrist.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8602fe1313765caceec64faff5ec919ec09c57c614b87f1c1c625dcef1e3df5a
+size 57684
diff --git a/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_7_gripper.stl b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_7_gripper.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8033632101a155446cbaebeb0d8cc7e8010ad
--- /dev/null
+++ b/robots/Interbotix_WidowX_250/mjcf/assets/wx250s_7_gripper.stl
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diff --git a/robots/KUKA_LBR_IIWA14/mjcf/CHANGELOG.md b/robots/KUKA_LBR_IIWA14/mjcf/CHANGELOG.md
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@@ -0,0 +1,6 @@
+# Changelog – KUKA LBR iiwa 14 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2023-05-18]
+- Initial release.
diff --git a/robots/KUKA_LBR_IIWA14/mjcf/LICENSE b/robots/KUKA_LBR_IIWA14/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d4681a468ef93f00712d31e79c5262f72b73299f
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@@ -0,0 +1,31 @@
+All components of Drake are licensed under the BSD 3-Clause License
+shown below. Where noted in the source code, some portions may
+be subject to other permissive, non-viral licenses.
+
+Copyright 2012-2022 Robot Locomotion Group @ CSAIL
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer. 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. Neither the name of
+the Massachusetts Institute of Technology 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.
diff --git a/robots/KUKA_LBR_IIWA14/mjcf/README.md b/robots/KUKA_LBR_IIWA14/mjcf/README.md
new file mode 100644
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--- /dev/null
+++ b/robots/KUKA_LBR_IIWA14/mjcf/README.md
@@ -0,0 +1,36 @@
+# KUKA LBR iiwa 14 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [LBR iiwa](https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa) 14kg developed
+by [KUKA Robotics](https://www.kuka.com/en-us). It is derived from the [publicly available](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)
+URDF description created by the [Drake](https://github.com/RobotLocomotion/drake) developers.
+
+
+
+## MJCF derivation steps
+
+1. Converted xacro to URDF: `rosrun xacro xacro gen3.xacro > gen3.urdf`
+2. Added the following to the URDF's `` clause:
+
+```xml
+
+
+
+```
+
+Note `fusestatic="false"` is needed so that base_link is preserved.
+
+3. Converted to MJCF:
+
+```python
+import mujoco
+model = mujoco.MjModel.from_xml_path('gen3.urdf')
+mujoco.mj_saveLastXML('gen3.xml', model)
+```
+
+4. Cleaned up the MJCF file as follows:
+ - Added option: ``.
+ - Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and added the class to defaults.
+ - Replaced `type="mesh" rgba="0.75294 0.75294 0.75294 1"` with `class="collision"` and added the class to defaults.
+ - Deleted `` entirely and replaced with ``.
+5. Added the following to the MJCF:
+ - Added wrist camera: ``.
+ - Added position actuators with joint limits on joints 2, 4, and 6.
+ - Added keyframes for "home" and "retract".
+6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## Robotiq 2F-85
+
+Do not include the Robotiq mechanical coupling used in arms such as the UR and Franka since for the Kinova Gen3, it is built into the end effector interface. Specifically, if using Menagerie's `robotiq_2f85`, the "base_mount" link (mechanical coupling) should be excluded. Instead, the "base" link should be directly mounted at pose `pos="0 0 -0.06149039" quat="0 -1 1 0"` like so:
+
+```xml
+
+ ...
+
+```
+
+The end effector site should also be shifted by an additional `0.12` to match the behavior of Kinova Kortex API:
+
+```xml
+
+```
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Jimmy Wu](https://jimmyyhwu.github.io/).
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diff --git a/robots/Koch_v1.1_Low-Cost_Robot/mjcf/LICENSE b/robots/Koch_v1.1_Low-Cost_Robot/mjcf/LICENSE
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+ Apache License
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diff --git a/robots/Koch_v1.1_Low-Cost_Robot/mjcf/README.md b/robots/Koch_v1.1_Low-Cost_Robot/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c202b4ad1169f2d4d0da8cf2b0f8cae7153234cd
--- /dev/null
+++ b/robots/Koch_v1.1_Low-Cost_Robot/mjcf/README.md
@@ -0,0 +1,29 @@
+# Low-Cost Robot Arm (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.6 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the **Low-Cost Robot Arm** developed originally by [Alexander Koch](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main) and updated by [HuggingFace LeRobot Team](https://github.com/jess-moss/koch-v1-1/tree/main) with the name **Kochv1.1**. It is derived from the [publicly available URDF description](https://github.com/s1lent4gnt/koch-v1-1/blob/main/simulation/follower.urdf).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF’s `` element to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved it as a corresponding MJCF.
+3. Manually edited the MJCF to extract shared properties into the `` section.
+4. Edited original meshes: extracted servos into separate files, manually created convex collision meshes for the gripper fingers using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf/tree/main).
+5. Added extra box-shaped collision geoms to the gripper fingers tip for additional contact points.
+6. Added an `exclude` clause to prevent collisions between `base_link` and `shoulder_rotation`.
+7. Added approximate joint limits.
+8. Added position-controlled actuators.
+9. Added `impratio="10"` and `cone="elliptic"` attributes for improved no-slip behavior.
+10. Created `scene.xml` to include the robot, along with a textured ground plane, skybox, and haze.
+
+## License
+
+This model is released under an [Apache-2.0 License](LICENSE).
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new file mode 100644
index 0000000000000000000000000000000000000000..251ebfa512ee133541ec91373615ebaa6f4c7416
--- /dev/null
+++ b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l4_visuals.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac6d3475e1fce65711142a215e2784d0c3a4e57652e784ba7a638c70e4f4a41
+size 2783262
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new file mode 100644
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--- /dev/null
+++ b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l5_visuals.mtl
@@ -0,0 +1,7 @@
+newmtl material_sawyer_red
+Kd 0.5 0.10000000149011612 0.10000000149011612
+Ka 1.0 1.0 1.0
+Ks 0.5 0.5 0.5
+Ns 10.0
+Tf 1.0 1.0 1.0
+d 1.0
diff --git a/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l5_visuals.obj b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l5_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2606d8d83d541fa77ab43f61258e0c8d3ff34760
--- /dev/null
+++ b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l5_visuals.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1191272
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new file mode 100644
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--- /dev/null
+++ b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l6_visuals.mtl
@@ -0,0 +1,7 @@
+newmtl material_sawyer_red
+Kd 0.5 0.10000000149011612 0.10000000149011612
+Ka 1.0 1.0 1.0
+Ks 0.5 0.5 0.5
+Ns 10.0
+Tf 1.0 1.0 1.0
+d 1.0
diff --git a/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l6_visuals.obj b/robots/Rethink_Robotics_Sawyer/urdf/meshes/right_l6_visuals.obj
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1105301
diff --git a/robots/Rethink_Robotics_Sawyer/urdf/sawyer_v2.urdf b/robots/Rethink_Robotics_Sawyer/urdf/sawyer_v2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..910ef4957d85b6fed252716e035b42eb39e54569
--- /dev/null
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diff --git a/robots/Rethink_Robotics_Sawyer/usd/sawyer_v2.usd b/robots/Rethink_Robotics_Sawyer/usd/sawyer_v2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7f23b4b0546f6f4fdd1e9d72a9a14db443f391bb
--- /dev/null
+++ b/robots/Rethink_Robotics_Sawyer/usd/sawyer_v2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee37b0affe901408005d72a0e29acff1598f09bdcbc7cd86ac113abc4f0331b
+size 45296658
diff --git a/robots/Siasun_SO-ARM100/mjcf/CHANGELOG.md b/robots/Siasun_SO-ARM100/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..abc37b2e34d338005ca6b5d0d34fda8e981e0fe8
--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/CHANGELOG.md
@@ -0,0 +1,11 @@
+# Changelog – Standard Open Arm-100 5DOF - Version 1.3 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-06-09]
+- Adjusted joint limits to match real robot's physical constraints.
+- Changed primary color of robot to white.
+- Added rest position keyframe.
+
+## [2024-11-25]
+- Initial release.
diff --git a/robots/Siasun_SO-ARM100/mjcf/LICENSE b/robots/Siasun_SO-ARM100/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..261eeb9e9f8b2b4b0d119366dda99c6fd7d35c64
--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/LICENSE
@@ -0,0 +1,201 @@
+ Apache License
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+ http://www.apache.org/licenses/
+
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diff --git a/robots/Siasun_SO-ARM100/mjcf/README.md b/robots/Siasun_SO-ARM100/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb484eec61ec0b1aefa835800c9f6f7150e6f31f
--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/README.md
@@ -0,0 +1,33 @@
+# Standard Open Arm-100 5DOF - Version 1.3 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.6 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Standard Open Arm-100](https://github.com/TheRobotStudio/SO-ARM100/tree/main) developed by [The Robot Studio](https://www.therobotstudio.com/). It is derived from the [publicly available URDF description](https://github.com/TheRobotStudio/SO-ARM100/blob/4e9c5588d8a8415b6a6c2142a0ce8c32207cf3e9/URDF/SO_5DOF_ARM100_8j_URDF.SLDASM/urdf/SO_5DOF_ARM100_8j_URDF.SLDASM.urdf).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF’s `` element to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved it as a corresponding MJCF.
+3. Manually edited the MJCF to extract shared properties into the `` section.
+4. Edited original meshes: extracted servos into separate files, manually created convex collision meshes for the gripper jaws.
+5. Added extra box-shaped collision geoms to the gripper for additional contact points.
+6. Added an `exclude` clause to prevent collisions between `Base` and `Rotation_Pitch`.
+7. Added approximate joint limits.
+8. Added position-controlled actuators.
+9. Added `impratio="10"` and `cone="elliptic"` attributes for improved no-slip behavior.
+10. Created `scene.xml` to include the robot, along with a textured ground plane, skybox, and haze.
+
+## License
+
+This model is released under an [Apache-2.0 License](LICENSE).
diff --git a/robots/Siasun_SO-ARM100/mjcf/assets/Base.stl b/robots/Siasun_SO-ARM100/mjcf/assets/Base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..03bc1a5d0bbba5330f4833a2ee89fdc8825b91bf
--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/assets/Base.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb8afb0303c0125f265a797625cfaf646ac214d5d2dc9c986348c415755e2a74
+size 443484
diff --git a/robots/Siasun_SO-ARM100/mjcf/assets/Base_Motor.stl b/robots/Siasun_SO-ARM100/mjcf/assets/Base_Motor.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bc3f3a63ce1d14560ec72a7fe8cc65c9af5990e2
--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/assets/Base_Motor.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac4485d448eca418d2a93df3f78f449bd59b21ec1af2a579171819fd44ea576
+size 154284
diff --git a/robots/Siasun_SO-ARM100/mjcf/assets/Fixed_Jaw.stl b/robots/Siasun_SO-ARM100/mjcf/assets/Fixed_Jaw.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Siasun_SO-ARM100/mjcf/assets/Fixed_Jaw.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5528867073033eaa4c27a8087180954f3f0635bd69d517d5cace92f01dd266b2
+size 264584
diff --git a/robots/Siasun_SO-ARM100/mjcf/assets/Fixed_Jaw_Collision_1.stl b/robots/Siasun_SO-ARM100/mjcf/assets/Fixed_Jaw_Collision_1.stl
new file mode 100644
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diff --git a/robots/Siasun_SO-ARM100/mjcf/scene.xml b/robots/Siasun_SO-ARM100/mjcf/scene.xml
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+
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diff --git a/robots/Siasun_SO-ARM100/mjcf/so_arm100.png b/robots/Siasun_SO-ARM100/mjcf/so_arm100.png
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@@ -0,0 +1,3 @@
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diff --git a/robots/Siasun_SO-ARM100/mjcf/so_arm100.xml b/robots/Siasun_SO-ARM100/mjcf/so_arm100.xml
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diff --git a/robots/UFactory_Lite6/mjcf/CHANGELOG.md b/robots/UFactory_Lite6/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..9fd4f896c57d37729cb7e084137b01853afa16e8
--- /dev/null
+++ b/robots/UFactory_Lite6/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Lite 6 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2023-11-03]
+- Initial release.
diff --git a/robots/UFactory_Lite6/mjcf/LICENSE b/robots/UFactory_Lite6/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..2ac522888a6639e7de4666d8c8e2c25e8eaf21a4
--- /dev/null
+++ b/robots/UFactory_Lite6/mjcf/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2018, UFACTORY Inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+ * 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.
+ * 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.
diff --git a/robots/UFactory_Lite6/mjcf/README.md b/robots/UFactory_Lite6/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..02e2e321690710c06f25c8b2e8e4087ee679a173
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+++ b/robots/UFactory_Lite6/mjcf/README.md
@@ -0,0 +1,57 @@
+# Lite 6 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.0 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[Lite 6](https://www.ufactory.cc/product-page/ufactory-lite-6) developed by
+[UFactory](https://www.ufactory.cc/). It is derived from the [publicly available
+URDF
+description](https://github.com/xArm-Developer/xarm_ros2/tree/master/xarm_description/urdf/lite6). 3 versions are provided: no gripper, wide gripper, and narrow gripper. The gripper fingers can be attached in two orientations, narrrow (so that they close fully) or wide (so that wider objects can be gripped). This provides some flexibility with the limited range of the gripper.
+
+
+
+ No gripper
+
+
+
+
+
+ Wide gripper configuration, fully closed (initial position) and open
+
+
+
+
+
+ Narrow gripper confgiguration, fully closed (initial position) and open
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to extract common properties into the `` section.
+4. Added actuators.
+5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+### Gripper
+
+The URDF only contains a gripper model for the Lite 6 with the fingers fused to the gripper body. To separate the fingers, the .step file of the fused body from the [Ufactory website](https://www.ufactory.cc/download/) was loaded into Onshape ([file here](https://cad.onshape.com/documents/f60aac1c8ff6af8f490dc855/w/5c0df4bc7414802fc89a514e/e/7dc41825dd66894c14b085ca?renderMode=0&uiState=66bdfb41f48d6a182064f4a4)) and split along the tracks that the fingers run on. Because MuJoCo forms a convex hull for collision meshes, it was necessary to separate the wide fingers into the base and tip for realistic gripping.
+
+Because they are actuated via an air compressor, a single `motor` actuator was used in the model, with an equality constraint to mimic the gearing mechanism that keeps them equidistant from the centre. There is no position control of the gripper.
+
+The moments of inertia were estimated in Onshape due to not having any data from the manufacturer. This was done by choosing a density that matched the mass of the actual part, and assuming a uniform mass distribution (which is not the actual case but should be close enough).
+
+
+
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/robots/UFactory_Lite6/mjcf/assets/collision/gripper_lite_body.stl b/robots/UFactory_Lite6/mjcf/assets/collision/gripper_lite_body.stl
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diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/CHANGELOG.md b/robots/Unitree_Z1_Robotic_Arm/mjcf/CHANGELOG.md
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--- /dev/null
+++ b/robots/Unitree_Z1_Robotic_Arm/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Unitree Z1 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2023-12-14]
+- Initial release.
diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/LICENSE b/robots/Unitree_Z1_Robotic_Arm/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..e472bbd9217c60020b6949b6d8f3b3ede72acb11
--- /dev/null
+++ b/robots/Unitree_Z1_Robotic_Arm/mjcf/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* 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.
+
+* 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.
diff --git a/robots/Unitree_Z1_Robotic_Arm/mjcf/README.md b/robots/Unitree_Z1_Robotic_Arm/mjcf/README.md
new file mode 100644
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--- /dev/null
+++ b/robots/Unitree_Z1_Robotic_Arm/mjcf/README.md
@@ -0,0 +1,32 @@
+# Unitree Z1 description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Z1
+manipulator](https://www.unitree.com/z1/) developed by [Unitree
+Robotics](https://www.unitree.com/). It is derived from the [publicly available
+URDF
+description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/z1_description/).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF's `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to extract common properties into the `` section.
+4. Added position-control actuators.
+5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
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diff --git a/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link05_visuals_mesh_0.obj b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link05_visuals_mesh_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1498c3a19b8713ea79172fa76c40ecaebcbf7f3
--- /dev/null
+++ b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link05_visuals_mesh_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b706b152c9556e89e88ecc4559c5282e18f179785327003ee80529b35ce862cb
+size 3843334
diff --git a/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.mtl b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce4169347a5551d0abc8e2b9623f7bfab1fb22ca
--- /dev/null
+++ b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.mtl
@@ -0,0 +1,7 @@
+newmtl OmniSurface_BrushedMetal
+Kd 1.0 1.0 1.0
+Ka 1.0 1.0 1.0
+Ks 0.5 0.5 0.5
+Ns 10.0
+Tf 1.0 1.0 1.0
+d 1.0
diff --git a/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.obj b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.obj
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+++ b/robots/Unitree_Z1_Robotic_Arm/urdf/meshes/link06_visuals_mesh_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d256192bafc1f50b807004c5fc533d780c472da800eba863ebd99287255bdaeb
+size 454499
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index 0000000000000000000000000000000000000000..a6890283bb7e739194b28b29527996325933848d
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@@ -0,0 +1,184 @@
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diff --git a/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md b/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..b999378a3bc2737dbb1aff36cb55fc50f7b13b86
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Universal Robots UR10e Description
+
+All notable changes to this model will be documented in this file.
+
+## [2022-09-07]
+- Initial release.
diff --git a/robots/Universal_Robots_UR10e/mjcf/LICENSE b/robots/Universal_Robots_UR10e/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f24e07cb6524f2a5e42a466c27c655a9ceb674a6
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/mjcf/LICENSE
@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+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.
diff --git a/robots/Universal_Robots_UR10e/mjcf/README.md b/robots/Universal_Robots_UR10e/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..eda61150b4e75642f880dcc2b173732edb0bce30
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/mjcf/README.md
@@ -0,0 +1,50 @@
+# Universal Robots UR10e Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[UR10e](https://www.universal-robots.com/products/ur10-robot/) developed by
+[Universal Robots](https://www.universal-robots.com/). It is derived from the
+[publicly available URDF
+description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
+
+
+
+
+
+### URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+ files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur10e/visual)
+ to OBJ format using [Blender](https://www.blender.org/).
+ - In this process, the Z axis of the joint that a link is connected to should point up.
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a tracking light to the base.
+6. Manually edited the MJCF to extract common properties into the `` section.
+7. Manually edited colors to match UR10 colors.
+8. Added position-controlled actuators and joint damping and armature. Note
+ that these values have not been carefully tuned -- contributions are more
+ than welcome to improve them.
+9. Added home joint configuration as a `keyframe`.
+10. Manually designed collision geometries to be as realistic as the UR10's shape.
+11. Added `scene.xml`, which includes the robot, with a textured ground plane, skybox, and haze.
+
+### Notes
+
+Although the model is stable in the `scene.xml`, you might see unstable behavior when combined with
+other models (i.e., Robotiq-2F85 gripper). Switching the integrator from `Euler` to `RK4` helps in
+these cases.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/base.stl b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..57d15dec96fbd73864f6a0a52313f8d0132f08e5
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/base.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22984
diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/forearm.stl b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/forearm.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/forearm.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/shoulder.stl b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/shoulder.stl
new file mode 100644
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--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/collision/shoulder.stl
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/base.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/base.dae
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/forearm.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/forearm.dae
new file mode 100644
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--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/forearm.dae
@@ -0,0 +1,3 @@
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/shoulder.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/shoulder.dae
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/upperarm.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/upperarm.dae
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@@ -0,0 +1,3 @@
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+size 3168983
diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist1.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist1.dae
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist2.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist2.dae
new file mode 100644
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--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist3.dae b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..29de0091bdedaa5111ecb4a5ff1806540d5b6627
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meshes/ur10e/visual/wrist3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9b06263287b4235f61b323f5cc486624bfb55d12e9814f90c3df065de8a045
+size 71926
diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json b/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d661e3b82232d44285e94fd6c184559ee9da897
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/meta-information.json
@@ -0,0 +1,88 @@
+{
+ "robots": [
+ {
+ "name": "UR3",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur3.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 240
+ },
+ {
+ "name": "UR5",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur5.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 241
+ },
+ {
+ "name": "UR10",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur10.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 242
+ },
+ {
+ "name": "UR3e",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur3e.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 243
+ },
+ {
+ "name": "UR5e",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur5e.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 244
+ },
+ {
+ "name": "UR10e",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur10e.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 245
+ },
+ {
+ "name": "UR16e",
+ "type": "robotic arm",
+ "manufacturer": "Universal Robots",
+ "xacro-generated": true,
+ "urdf": [
+ "urdf/ur16e.urdf"
+ ],
+ "variant": null,
+ "source-link": "https://github.com/ros-industrial/universal_robot/tree/6507bb6756d0065d49b76230ff55f875f099a827/ur_description",
+ "id": 246
+ }
+ ]
+}
\ No newline at end of file
diff --git a/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf b/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc5f08b4d266c50bfc9b488700e14589141deae0
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/urdf/ur_description/urdf/ur10e.urdf
@@ -0,0 +1,360 @@
+
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
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+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
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+
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+
diff --git a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab0766859b7a0f4346622b4129f56a741a063a92
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur11e.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa71d5d56a9b3433b8c8be9cbc3fa0f41741e6a498acbaf2fe89ad9804ea2d09
+size 19350
diff --git a/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7105b5f0eabdccd0d1b2b30f8021907a95d89fb
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/usd/.thumbs/256x256/ur5e.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275a534c57ffedd3783bc188f92bbe3579f5ad5933731f17758665c4bef40ba7
+size 19374
diff --git a/robots/Universal_Robots_UR10e/usd/ur10e.usd b/robots/Universal_Robots_UR10e/usd/ur10e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..99d735fa85e05d598be3692967ab97fa360e2616
--- /dev/null
+++ b/robots/Universal_Robots_UR10e/usd/ur10e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58548e7ff3fb75b3ad549861ebc8bc44e3f3c8ab43734c2031978c5aa8146377
+size 4248
diff --git a/robots/Universal_Robots_UR5e/check.py b/robots/Universal_Robots_UR5e/check.py
new file mode 100644
index 0000000000000000000000000000000000000000..b4b3a2a1db676a3b9b54eefbedd41931c1eea923
--- /dev/null
+++ b/robots/Universal_Robots_UR5e/check.py
@@ -0,0 +1,10 @@
+from pxr import Usd, UsdPhysics
+
+stage = Usd.Stage.Open("/home/zuo/Documents/RoboVerse/roboverse_data/robots/universal_robots_ur5e/ur5e/ur5e.usd")
+for prim in stage.Traverse():
+ if prim.IsA(UsdPhysics.RevoluteJoint) or prim.IsA(UsdPhysics.PrismaticJoint):
+ joint = UsdPhysics.RevoluteJoint(prim) if prim.IsA(UsdPhysics.RevoluteJoint) else UsdPhysics.PrismaticJoint(prim)
+ name = prim.GetPath().pathString
+ lo = joint.GetLowerLimitAttr().Get()
+ hi = joint.GetUpperLimitAttr().Get()
+ print(name, lo, hi)
diff --git a/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md b/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..9fb3c15bda6aa86a68fd9b3a8883201fa0824ed7
--- /dev/null
+++ b/robots/Universal_Robots_UR5e/mjcf/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Universal Robots UR5e Description
+
+All notable changes to this model will be documented in this file.
+
+## [2022-09-07]
+- Initial release.
diff --git a/robots/Universal_Robots_UR5e/mjcf/LICENSE b/robots/Universal_Robots_UR5e/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f24e07cb6524f2a5e42a466c27c655a9ceb674a6
--- /dev/null
+++ b/robots/Universal_Robots_UR5e/mjcf/LICENSE
@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+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.
diff --git a/robots/Universal_Robots_UR5e/mjcf/README.md b/robots/Universal_Robots_UR5e/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d73bd4ef1b74ad3ead04535a7d7a48a9fb0161fc
--- /dev/null
+++ b/robots/Universal_Robots_UR5e/mjcf/README.md
@@ -0,0 +1,41 @@
+# Universal Robots UR5e Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[UR5e](https://www.universal-robots.com/products/ur5-robot/) developed by
+[Universal Robots](https://www.universal-robots.com/). It is derived from the
+[publicly available URDF
+description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
+
+
+
+
+
+### URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+ files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur5e/visual)
+ to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a tracking light to the base.
+6. Manually edited the MJCF to extract common properties into the `` section.
+7. Added position-controlled actuators. Max joint torque values were taken from
+ [here](https://www.universal-robots.com/articles/ur/robot-care-maintenance/max-joint-torques/).
+8. Added home joint configuration as a `keyframe`.
+9. Manually designed collision geometries.
+10. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
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diff --git a/robots/Universal_Robots_UR5e/usd/.thumbs/256x256/ur5e.usd.png b/robots/Universal_Robots_UR5e/usd/.thumbs/256x256/ur5e.usd.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9d34def2cad8d42a536d99f4fbdf31e9af95d8a87d80683fc1ccd6f4b1a35d
+size 21304
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+++ b/robots/Universal_Robots_UR5e/usd/ur5e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35107f751b6631c2e71b5979e5117c00c1d1f13d844aab70e2a53e26bde96f00
+size 3837
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md b/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..4c47e98bdee2fc6d27de1db592f499f747673cc6
--- /dev/null
+++ b/robots/Yet_Another_Manipulator_YAM/mjcf/CHANGELOG.md
@@ -0,0 +1,7 @@
+# Changelog – YAM Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-05-19]
+
+- Initial release.
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE b/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..12db7704f0a71570309c12f351dd656a8dec3b63
--- /dev/null
+++ b/robots/Yet_Another_Manipulator_YAM/mjcf/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 i2rt robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/robots/Yet_Another_Manipulator_YAM/mjcf/README.md b/robots/Yet_Another_Manipulator_YAM/mjcf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..638b2702a7caba566f3a2c47d6cda3603604b0e1
--- /dev/null
+++ b/robots/Yet_Another_Manipulator_YAM/mjcf/README.md
@@ -0,0 +1,34 @@
+# Yet Another Manipulator (YAM) Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [YAM robot](https://i2rt.com/products/yam-manipulator) developed by [I2
+RT Robotics](https://i2rt.com/). It is derived from the [publicly available
+URDF
+description](https://github.com/i2rt-robotics/i2rt/blob/main/robot_models/yam/yam.urdf).
+
+
+
+
+
+
+
+
+ 
+ 
+ 
+ 
+ 
+
+
+
+