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This PR adds multiple robot arm configurations under roboverse_data/robots.
The following models are included, with their available formats (URDF / MJCF / USD) :

ARX L5 → MJCF ✅, URDF ❌, USD ❌

iiwa14 (KUKA) → URDF ✅, MJCF ✅, USD ✅

Lite6 (UFactory) → MJCF ✅, URDF ❌, USD ❌

Franka Emika Panda → URDF ✅, MJCF ✅, USD ✅

Sawyer (Rethink Robotics) → URDF ✅, USD ✅, MJCF ❌

Unitree Z1 → URDF ✅, MJCF ✅, USD ✅

UR5e (Universal Robots) → URDF ✅, MJCF ✅, USD ✅

UR10e (Universal Robots) → URDF ✅, MJCF ✅, USD ✅

Gen3 (Kinova) → URDF ✅, MJCF ✅, USD ✅

SO-ARM100 (Siasun) → MJCF ✅, URDF ❌, USD ❌

Koch v1.1 Low-Cost Robot → MJCF ✅, URDF ❌, USD ❌

YAM (I2RT Robotics) → MJCF ✅, URDF ❌, USD ❌

Each model is provided with demo videos for PyBullet (URDF), MuJoCo (MJCF), and Isaac Lab (USD) where available.

⚠️ Note: URDF format is not supported in Isaac Gym;

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.

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.

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).
+
+<p float="left">
+  <img src="arx_l5.png" width="400">
+</p>
+
+### Derivation steps
+
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
+    `<robot>` 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 `<default>` 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/).

robots/ARX_Robotics_L5_Arm/mjcf/arx_l5.xml

@@ -0,0 +1,131 @@
+<mujoco model="ARX L5">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+
+  <default>
+    <default class="arx_l5">
+      <joint frictionloss="0.3" armature="0.005"/>
+      <position inheritrange="1" forcerange="-100 100"/>
+      <default class="finger">
+        <joint frictionloss="0" type="slide"/>
+        <position forcerange="-10 10"/>
+      </default>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black_mat" rgba="0.1 0.1 0.1 1"/>
+
+    <mesh name="base_link" file="base_link.obj"/>
+    <mesh name="link1" file="link1.obj"/>
+    <mesh name="link2" file="link2.obj"/>
+    <mesh name="link3" file="link3.obj"/>
+    <mesh name="link4" file="link4.obj"/>
+    <mesh name="link5" file="link5.obj"/>
+    <mesh name="link6" file="link6.obj"/>
+    <mesh name="link7" file="link7.obj"/>
+    <mesh name="link8" file="link8.obj"/>
+    <mesh name="camera" file="camera.obj"/>
+  </asset>
+
+  <worldbody>
+    <light mode="targetbodycom" target="link8" pos="1 0 1"/>
+    <body name="base_link">
+      <geom mesh="base_link" material="black_mat" class="visual"/>
+      <geom mesh="base_link" class="collision"/>
+      <body name="link1" pos="0 0 0.0565">
+        <inertial pos="0.0050395 -0.0077407 0.020897" quat="0.632157 0.714526 -0.263733 0.142391" mass="0.096804"
+          diaginertia="0.000118945 9.40205e-05 4.70346e-05"/>
+        <joint name="joint1" axis="0 0 1" range="-3.14 3.14"/>
+        <geom mesh="link1" material="black_mat" class="visual"/>
+        <geom mesh="link1" class="collision"/>
+        <body name="link2" pos="0.02 0 0.047">
+          <inertial pos="-0.12992 -0.0011822 -2.6366e-05" quat="0.501263 0.501263 0.498734 0.498734" mass="1.1988"
+            diaginertia="0.0164704 0.01646 0.000649595"/>
+          <joint name="joint2" axis="0 1 0" range="0 3.14"/>
+          <geom mesh="link2" material="black_mat" class="visual"/>
+          <geom mesh="link2" class="collision"/>
+          <body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 -1 0 0">
+            <inertial pos="0.16181 0.0011723 -0.05455" quat="0.518857 0.484372 0.465704 0.52848" mass="0.84082"
+              diaginertia="0.0084909 0.00841207 0.000747034"/>
+            <joint name="joint3" axis="0 1 0" range="0 3.14"/>
+            <geom mesh="link3" material="black_mat" class="visual"/>
+            <geom mesh="link3" class="collision"/>
+            <geom type="box" size="0.062 0.001 0.01" pos="0.112 -0.025 -0.06" rgba="1 0 0 1" class="visual"/>
+            <geom type="box" size="0.062 0.001 0.01" pos="0.112 0.023 -0.06" rgba="1 0 0 1" class="visual"/>
+            <body name="link4" pos="0.245 -5e-05 -0.06">
+              <inertial pos="0.041751 0.0054236 -0.03337" quat="0.919386 -0.0641253 0.311071 -0.23206" mass="0.12432"
+                diaginertia="0.000303193 0.000235316 0.000101491"/>
+              <joint name="joint4" axis="0 1 0" range="-1.7 1.7"/>
+              <geom mesh="link4" material="black_mat" class="visual"/>
+              <geom mesh="link4" class="collision"/>
+              <body name="link5" pos="0.073914 5e-05 -0.083391">
+                <inertial pos="-8.3435e-05 -1.5428e-05 0.052216" quat="0.998247 0 -0.0591776 0" mass="0.63601"
+                  diaginertia="0.000848329 0.00082 0.000251671"/>
+                <joint name="joint5" axis="0 0 1" range="-1.7 1.7"/>
+                <geom mesh="link5" material="black_mat" class="visual"/>
+                <geom mesh="link5" class="collision"/>
+                <body name="link6" pos="0.025286 0 0.083391" quat="-3.67321e-06 1 0 0">
+                  <inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089"
+                    diaginertia="0.0005 0.00038 0.00028"/>
+                  <joint name="joint6" axis="1 0 0" range="-3.14 3.14"/>
+                  <geom mesh="link6" material="black_mat" class="visual"/>
+                  <geom mesh="link6" class="collision"/>
+                  <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" material="black_mat" class="visual"/>
+                  <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" class="collision"/>
+                  <camera name="wrist_cam" pos="0.0475 0 0.075" mode="fixed" euler="0 -1.1 -1.5708"
+                    focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
+                  <body name="link7" pos="0.08657 0.024896 -0.0002436" gravcomp="1">
+                    <inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798"
+                      diaginertia="3e-05 3e-05 2e-05"/>
+                    <joint name="joint7" axis="0 1 0" class="finger" range="0 0.044"/>
+                    <geom mesh="link7" material="black_mat" class="visual"/>
+                    <geom type="box" size=".02 .002 .00525" pos="0.05 -0.023 0" rgba="1 0 0 1" class="collision"/>
+                    <geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/>
+                  </body>
+                  <body name="link8" pos="0.08657 -0.0249 -0.00024366" gravcomp="1">
+                    <inertial pos="-0.000355223 0.00782769 0.00242006" quat="0.5 0.5 0.5 0.5" mass="0.0647982"
+                      diaginertia="3e-05 3e-05 2e-05"/>
+                    <joint name="joint8" axis="0 1 0" class="finger" range="-0.044 0"/>
+                    <geom mesh="link8" material="black_mat" class="visual"/>
+                    <geom type="box" size=".02 .002 .00525" pos="0.05 0.023 0" rgba="1 0 0 1" class="collision"/>
+                    <geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="base_link" body2="link1"/>
+  </contact>
+
+  <equality>
+    <joint joint1="joint7" joint2="joint8" polycoef="0 -1 0 0 0"/>
+  </equality>
+
+  <actuator>
+    <position name="joint1" joint="joint1" class="arx_l5" kp="80" kv="5"/>
+    <position name="joint2" joint="joint2" class="arx_l5" kp="80" kv="5"/>
+    <position name="joint3" joint="joint3" class="arx_l5" kp="80" kv="5"/>
+    <position name="joint4" joint="joint4" class="arx_l5" kp="40" kv="5"/>
+    <position name="joint5" joint="joint5" class="arx_l5" kp="10" kv="1.5"/>
+    <position name="joint6" joint="joint6" class="arx_l5" kp="10" kv="1.5"/>
+    <position name="gripper" joint="joint7" class="finger" kp="40" kv="5"/>
+  </actuator>
+
+<!--  <keyframe>-->
+<!--    <key name="home" qpos="0 0.251 0.314 0 0 0 0.044 -0.044" ctrl="0 0.251 0.314 0 0 0 0.044"/>-->
+<!--  </keyframe>-->
+</mujoco>

robots/ARX_Robotics_L5_Arm/mjcf/assets/base_link.obj

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+size 831334

robots/ARX_Robotics_L5_Arm/mjcf/assets/camera.obj

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+size 835733

robots/ARX_Robotics_L5_Arm/mjcf/assets/link1.obj

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robots/ARX_Robotics_L5_Arm/mjcf/assets/link2.obj

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robots/ARX_Robotics_L5_Arm/mjcf/assets/link3.obj

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robots/ARX_Robotics_L5_Arm/mjcf/assets/link4.obj

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robots/ARX_Robotics_L5_Arm/mjcf/assets/link5.obj

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+size 2301371

robots/ARX_Robotics_L5_Arm/mjcf/assets/link6.obj

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+size 1944757

robots/ARX_Robotics_L5_Arm/mjcf/assets/link7.obj

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+size 279721

robots/ARX_Robotics_L5_Arm/mjcf/assets/link8.obj

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robots/ARX_Robotics_L5_Arm/mjcf/scene.xml

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+<mujoco model="ARX L5 scene">
+  <include file="arx_l5.xml"/>
+
+  <statistic center="0 0 0.1" extent="0.6"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>

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.

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.

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).
+
+<p float="left">
+  <img src="wx250s.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
+   `<robot>` 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 `<default>` 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).

robots/Interbotix_WidowX_250/mjcf/assets/wx250s_10_gripper_finger.stl

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robots/Interbotix_WidowX_250/mjcf/assets/wx250s_9_gripper_bar.stl

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robots/Interbotix_WidowX_250/mjcf/scene.xml

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+<mujoco model="wx250s scene">
+  <include file="wx250s.xml"/>
+
+  <statistic center="0 0 0.12" extent="0.4"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-30"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>

robots/Interbotix_WidowX_250/mjcf/wx250s.xml

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+<mujoco model="wx250s">
+  <compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+
+  <asset>
+    <texture type="2d" file="interbotix_black.png"/>
+    <material name="black" texture="interbotix_black"/>
+
+    <mesh file="wx250s_1_base.stl" class="wx250s"/>
+    <mesh file="wx250s_2_shoulder.stl" class="wx250s"/>
+    <mesh file="wx250s_3_upper_arm.stl" class="wx250s"/>
+    <mesh file="wx250s_4_upper_forearm.stl" class="wx250s"/>
+    <mesh file="wx250s_5_lower_forearm.stl" class="wx250s"/>
+    <mesh file="wx250s_6_wrist.stl" class="wx250s"/>
+    <mesh file="wx250s_7_gripper.stl" class="wx250s"/>
+    <mesh file="wx250s_8_gripper_prop.stl" class="wx250s"/>
+    <mesh file="wx250s_9_gripper_bar.stl" class="wx250s"/>
+    <mesh file="wx250s_10_gripper_finger.stl" class="wx250s"/>
+  </asset>
+
+  <default>
+    <default class="wx250s">
+      <mesh scale="0.001 0.001 0.001"/>
+      <joint axis="0 1 0" frictionloss="0.1" armature="0.1"/>
+      <position kp="50" inheritrange="1" dampratio="0.95" forcerange="-35 35"/>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh"/>
+        <default class="sphere_collision">
+          <geom type="sphere" size="0.0006" rgba="1 0 0 1"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <light mode="targetbodycom" target="wx250s/gripper_link" pos="1 0 1"/>
+    <body name="wx250s/base_link" childclass="wx250s">
+      <inertial pos="-0.0380446 0.000613892 0.0193354" quat="0.509292 0.490887 -0.496359 0.503269" mass="0.538736"
+        diaginertia="0.00252518 0.00211519 0.000690737"/>
+      <geom quat="1 0 0 1" mesh="wx250s_1_base" class="visual"/>
+      <geom quat="1 0 0 1" mesh="wx250s_1_base" class="collision"/>
+      <body name="wx250s/shoulder_link" pos="0 0 0.072">
+        <inertial pos="2.23482e-05 4.14609e-05 0.0066287" quat="0.0130352 0.706387 0.012996 0.707586" mass="0.480879"
+          diaginertia="0.000588946 0.000555655 0.000378999"/>
+        <joint name="waist" axis="0 0 1" range="-3.14158 3.14158"/>
+        <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="visual"/>
+        <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="collision"/>
+        <body name="wx250s/upper_arm_link" pos="0 0 0.03865">
+          <inertial pos="0.0171605 2.725e-07 0.191323" quat="0.705539 0.0470667 -0.0470667 0.705539" mass="0.430811"
+            diaginertia="0.00364425 0.003463 0.000399348"/>
+          <joint name="shoulder" range="-1.88496 1.98968"/>
+          <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="visual"/>
+          <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="collision"/>
+          <body name="wx250s/upper_forearm_link" pos="0.04975 0 0.25">
+            <inertial pos="0.107963 0.000115876 0" quat="0.000980829 0.707106 -0.000980829 0.707106" mass="0.234589"
+              diaginertia="0.000888 0.000887807 3.97035e-05"/>
+            <joint name="elbow" range="-2.14675 1.6057"/>
+            <geom mesh="wx250s_4_upper_forearm" class="visual"/>
+            <geom mesh="wx250s_4_upper_forearm" class="collision"/>
+            <body name="wx250s/lower_forearm_link" pos="0.175 0 0">
+              <inertial pos="0.0374395 0.00522252 0" quat="-0.0732511 0.703302 0.0732511 0.703302" mass="0.220991"
+                diaginertia="0.0001834 0.000172527 5.88633e-05"/>
+              <joint name="forearm_roll" axis="1 0 0" range="-3.14158 3.14158"/>
+              <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="visual"/>
+              <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="collision"/>
+              <body name="wx250s/wrist_link" pos="0.075 0 0">
+                <inertial pos="0.04236 -1.0663e-05 0.010577" quat="0.608721 0.363497 -0.359175 0.606895" mass="0.084957"
+                  diaginertia="3.29057e-05 3.082e-05 2.68343e-05"/>
+                <joint name="wrist_angle" axis="0 1 0" range="-1.74533 2.14675"/>
+                <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="visual"/>
+                <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="collision"/>
+                <body name="wx250s/gripper_link" pos="0.065 0 0">
+                  <inertial pos="0.0325296 4.2061e-07 0.0090959" quat="0.546081 0.419626 0.62801 0.362371"
+                    mass="0.110084" diaginertia="0.00307592 0.00307326 0.0030332"/>
+                  <joint name="wrist_rotate" axis="1 0 0" range="-3.14158 3.14158"/>
+                  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_7_gripper" class="visual"/>
+                  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_7_gripper" class="collision"/>
+                  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="visual"/>
+                  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="collision"/>
+                  <body name="wx250s/left_finger_link" pos="0.066 0 0">
+                    <inertial pos="0.013816 0 0" quat="0.705384 0.705384 -0.0493271 -0.0493271" mass="0.016246"
+                      diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
+                    <joint name="left_finger" axis="0 1 0" type="slide" range="0.015 0.037"/>
+                    <geom pos="0 0.005 0" quat="0 0 0 -1" mesh="wx250s_10_gripper_finger" class="visual"/>
+                    <geom pos="0 0.005 0" quat="0 0 0 -1" mesh="wx250s_10_gripper_finger" class="collision"/>
+                    <geom name="left/left_g0" pos="0.042 -0.009 0.012" class="sphere_collision"/>
+                    <geom name="left/left_g1" pos="0.042 -0.009 -0.012" class="sphere_collision"/>
+                  </body>
+                  <body name="wx250s/right_finger_link" pos="0.066 0 0">
+                    <inertial pos="0.013816 0 0" quat="0.705384 0.705384 0.0493271 0.0493271" mass="0.016246"
+                      diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
+                    <joint name="right_finger" axis="0 1 0" type="slide" range="-0.037 -0.015"/>
+                    <geom pos="0 -0.005 0" quat="0 0 1 0" mesh="wx250s_10_gripper_finger" class="visual"/>
+                    <geom pos="0 -0.005 0" quat="0 0 1 0" mesh="wx250s_10_gripper_finger" class="collision"/>
+                    <geom name="right/right_g0" pos="0.042 0.009 0.012" class="sphere_collision"/>
+                    <geom name="right/right_g1" pos="0.042 0.009 -0.012" class="sphere_collision"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="wx250s/base_link" body2="wx250s/shoulder_link"/>
+  </contact>
+
+  <equality>
+    <joint joint1="left_finger" joint2="right_finger" polycoef="0 -1 0 0 0"/>
+  </equality>
+
+  <actuator>
+    <position class="wx250s" name="waist" joint="waist"/>
+    <position class="wx250s" name="shoulder" joint="shoulder"/>
+    <position class="wx250s" name="elbow" joint="elbow"/>
+    <position class="wx250s" name="forearm_roll" joint="forearm_roll"/>
+    <position class="wx250s" name="wrist_angle" joint="wrist_angle"/>
+    <position class="wx250s" name="wrist_rotate" joint="wrist_rotate"/>
+    <position class="wx250s" name="gripper" joint="left_finger" kp="200"/>
+  </actuator>
+
+<!--  <keyframe>-->
+<!--    <key name="home" qpos="0 -0.96 1.16 0 -0.3 0 0.015 -0.015" ctrl="0 -0.96 1.16 0 -0.3 0 0.015"/>-->
+<!--  </keyframe>-->
+</mujoco>

robots/KUKA_LBR_IIWA14/mjcf/CHANGELOG.md

@@ -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.

robots/KUKA_LBR_IIWA14/mjcf/LICENSE

@@ -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.

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.
+
+<p float="left">
+  <img src="iiwa_14.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
+   [URDF](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)'s
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Created base body and added its corresponding inertial properties.
+4. Added a tracking light to the base.
+5. Manually edited the MJCF to extract common properties into the `<default>` section.
+6.  Added `<exclude>` clauses to prevent collisions between `base` and `link1`.
+7.  Added actuators for the arm.
+8.  Added forcelimits to match the torque limits in the [spec sheet](https://www.reeco.co.uk/wp-content/uploads/2020/05/KUKA-LBR-iiwa-technical-data.pdf).
+9.  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).

robots/KUKA_LBR_IIWA14/mjcf/assets/band.obj

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