Add SimCode4D runtime assets 5/13

data/runtime/vendor/handover9_20260921/cases/industrial-1_agv_empty/M1/module1/scene_enriched.xml

@@ -0,0 +1,189 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 13.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 13.000000 0.075000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_barrel_0" type="box" pos="7.600000 -2.400000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_barrel_1" type="box" pos="7.600000 -3.000000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_barrel_2" type="box" pos="8.150000 -2.700000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_004_beam_-2_0_0_55_1" type="box" pos="9.150000 -2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_beam_-2_0_1_55_-1" type="box" pos="8.850000 -2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_beam_-2_0_1_55_1" type="box" pos="9.150000 -2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_beam_-2_0_2_55_-1" type="box" pos="8.850000 -2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_beam_-2_0_2_55_1" type="box" pos="9.150000 -2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_beam_-4_6_0_55_-1" type="box" pos="8.850000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_beam_-4_6_0_55_1" type="box" pos="9.150000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_171_wcol_3" type="box" pos="3.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_172_wcol_9" type="box" pos="9.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml

@@ -0,0 +1,249 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  
+<mesh name="rover_body"  file="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../rover_assets/rover_wheel.obj"/>
+    <material name="rover_chassis" rgba="0.15 0.35 0.55 1"/>
+    <material name="rover_wheel"   rgba="0.12 0.12 0.12 1"/>
+    <material name="rover_detail"  rgba="0.80 0.60 0.10 1"/>
+</asset>
+  <worldbody>
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+    <geom name="prop_convex_small_104_lbox_8_0_0_5_1" type="box" pos="8.450000 3.500000 0.760000" size="0.360000 0.275000 0.220000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_105_lbox_8_0_1_4_0" type="box" pos="7.500000 3.500000 1.620000" size="0.360000 0.275000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_106_lbox_8_0_1_4_1" type="box" pos="8.450000 3.500000 1.660000" size="0.360000 0.275000 0.220000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_107_lbox_8_0_2_3_0" type="box" pos="7.500000 3.500000 2.520000" size="0.360000 0.275000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_108_lbox_8_0_2_3_1" type="box" pos="8.450000 3.500000 2.560000" size="0.360000 0.275000 0.220000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_109_lpost_-1_6_-1_-1" type="box" pos="-2.650000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_110_lpost_-1_6_-1_1" type="box" pos="-2.650000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_111_lpost_-1_6_1_-1" type="box" pos="-0.550000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_112_lpost_-1_6_1_1" type="box" pos="-0.550000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_113_lpost_0_8_-1_-1" type="box" pos="-0.250000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_114_lpost_0_8_-1_1" type="box" pos="-0.250000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_115_lpost_0_8_1_-1" type="box" pos="1.850000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_116_lpost_0_8_1_1" type="box" pos="1.850000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_117_lpost_3_2_-1_-1" type="box" pos="2.150000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_118_lpost_3_2_-1_1" type="box" pos="2.150000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_119_lpost_3_2_1_-1" type="box" pos="4.250000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_120_lpost_3_2_1_1" type="box" pos="4.250000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_121_lpost_5_6_-1_-1" type="box" pos="4.550000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_122_lpost_5_6_-1_1" type="box" pos="4.550000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_123_lpost_5_6_1_-1" type="box" pos="6.650000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_124_lpost_5_6_1_1" type="box" pos="6.650000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_125_lpost_8_0_-1_-1" type="box" pos="6.950000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_126_lpost_8_0_-1_1" type="box" pos="6.950000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_127_lpost_8_0_1_-1" type="box" pos="9.050000 3.150000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_128_lpost_8_0_1_1" type="box" pos="9.050000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_129_palbox2_2_2" type="box" pos="2.250000 -3.060000 0.840000" size="0.210000 0.210000 0.170000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_130_palbox2_5_2" type="box" pos="5.250000 -2.860000 0.840000" size="0.210000 0.210000 0.170000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_131_palbox_2_2" type="box" pos="2.200000 -3.100000 0.395000" size="0.300000 0.300000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_132_palbox_5_2" type="box" pos="5.200000 -2.900000 0.395000" size="0.300000 0.300000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_133_pallet_2_2" type="box" pos="2.200000 -3.100000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_134_pallet_5_2" type="box" pos="5.200000 -2.900000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_135_pk_body" type="box" pos="-0.900000 2.550000 0.290000" size="0.460000 0.290000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_136_pk_deck" type="box" pos="-0.900000 2.550000 0.392500" size="0.430000 0.260000 0.012500" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_137_pk_skirt" type="box" pos="-0.900000 2.550000 0.160000" size="0.470000 0.300000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_138_pk_wheel_-1_-1" type="box" pos="-1.200000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_139_pk_wheel_-1_1" type="box" pos="-1.200000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_140_pk_wheel_1_-1" type="box" pos="-0.600000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_141_pk_wheel_1_1" type="box" pos="-0.600000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_142_post_-2_0_-1" type="box" pos="9.000000 -2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_143_post_-2_0_1" type="box" pos="9.000000 -1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_144_post_-4_6_-1" type="box" pos="9.000000 -5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_145_post_-4_6_1" type="box" pos="9.000000 -4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_146_post_2_0_-1" type="box" pos="9.000000 1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_147_post_2_0_1" type="box" pos="9.000000 2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_148_post_4_6_-1" type="box" pos="9.000000 4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_149_post_4_6_1" type="box" pos="9.000000 5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_150_qbox1_0" type="box" pos="10.600000 -2.300000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_151_qbox1_1" type="box" pos="12.400000 -3.000000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_152_qbox2_0" type="box" pos="10.630000 -2.330000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_153_qbox2_1" type="box" pos="12.430000 -3.030000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_154_qpal_0" type="box" pos="10.600000 -2.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_155_qpal_1" type="box" pos="12.400000 -3.000000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_156_rbox_-2_0_0_55" type="box" pos="9.000000 -2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_157_rbox_-2_0_1_55" type="box" pos="9.000000 -2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_158_rbox_-2_0_2_55" type="box" pos="9.000000 -2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_159_rbox_-4_6_0_55" type="box" pos="9.000000 -4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_160_rbox_-4_6_1_55" type="box" pos="9.000000 -4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_161_rbox_-4_6_2_55" type="box" pos="9.000000 -4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_162_rbox_2_0_0_55" type="box" pos="9.000000 2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_163_rbox_2_0_1_55" type="box" pos="9.000000 2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_164_rbox_2_0_2_55" type="box" pos="9.000000 2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_165_rbox_4_6_0_55" type="box" pos="9.000000 4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_166_rbox_4_6_1_55" type="box" pos="9.000000 4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_167_rbox_4_6_2_55" type="box" pos="9.000000 4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_168_wcol_-2" type="box" pos="-2.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_169_wcol_-8" type="box" pos="-8.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_171_wcol_3" type="box" pos="3.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_172_wcol_9" type="box" pos="9.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <body name="rover_base" pos="0 0 0.22">
+      <freejoint name="rover_freejoint"/>
+      <inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <body name="rover_fl_wheel" pos=" 0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rl_wheel" pos="-0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="-2.000000 0.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="rover_visual">
+      <geom contype="0" conaffinity="0" group="2" type="mesh"/>
+    </default>
+    <default class="rover_wheel">
+      <geom friction="1.4 0.02 0.01" condim="3" type="cylinder"
+            size="0.12 0.03"/>
+    </default>
+  </default>
+  <actuator>
+<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60"/>
+    <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60"/>
+    <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60"/>
+    <velocity name="rr_wheel" joint="rr_wheel_joint" kv="60"/>
+  </actuator>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml

@@ -0,0 +1,64 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_c2rib_3" type="box" pos="18.200001 4.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_c2rib_4" type="box" pos="18.200001 5.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_c2rib_5" type="box" pos="18.200001 6.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_c2rib_6" type="box" pos="18.200001 7.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_cont1" type="box" pos="18.200001 -1.200000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_cont2" type="box" pos="18.200001 4.600000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_dceiling" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 11.000000 0.075000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_dcol_0_0_-5_0" type="box" pos="0.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_dcol_11_0_5_8" type="box" pos="11.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_dcol_12_0_-5_0" type="box" pos="12.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_dcol_3_0_5_8" type="box" pos="3.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_dcol_6_0_-5_0" type="box" pos="6.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_dcolstripe_0_0_-5_0" type="box" pos="0.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_dcolstripe_11_0_5_8" type="box" pos="11.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_dcolstripe_12_0_-5_0" type="box" pos="12.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_dcolstripe_3_0_5_8" type="box" pos="3.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_dcolstripe_6_0_-5_0" type="box" pos="6.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_dcone_0" type="box" pos="4.500000 1.300000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_dcone_1" type="box" pos="9.000000 0.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_dconebase_0" type="box" pos="4.500000 1.300000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_dconebase_1" type="box" pos="9.000000 0.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_dendwall" type="box" pos="21.000000 0.000000 2.400000" size="0.150000 11.000000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_dwall" type="box" pos="4.000000 -5.400000 2.400000" size="18.000000 0.150000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_pjack" type="box" pos="6.400000 -2.100000 0.100000" size="0.250000 0.175000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_pjack_handle" type="box" pos="6.150000 -2.100000 0.420000" size="0.025000 0.025000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_twheel_0" type="box" pos="14.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_twheel_1" type="box" pos="15.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_wbox1_1" type="box" pos="5.200000 -3.300000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_wbox1_3" type="box" pos="2.000000 -2.500000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_wbox2_1" type="box" pos="5.240000 -3.300000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_wpal_0" type="box" pos="-0.300000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_wpal_1" type="box" pos="5.200000 -3.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_wpal_2" type="box" pos="10.400000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_wpal_3" type="box" pos="2.000000 -2.500000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_wrap_0" type="box" pos="-0.300000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_wrap_2" type="box" pos="10.400000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_wtop_0" type="box" pos="-0.300000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_wtop_2" type="box" pos="10.400000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml

@@ -0,0 +1,124 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  
+<mesh name="rover_body"  file="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../rover_assets/rover_wheel.obj"/>
+    <material name="rover_chassis" rgba="0.15 0.35 0.55 1"/>
+    <material name="rover_wheel"   rgba="0.12 0.12 0.12 1"/>
+    <material name="rover_detail"  rgba="0.80 0.60 0.10 1"/>
+</asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_c2rib_3" type="box" pos="18.200001 4.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_c2rib_4" type="box" pos="18.200001 5.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_c2rib_5" type="box" pos="18.200001 6.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_c2rib_6" type="box" pos="18.200001 7.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_cont1" type="box" pos="18.200001 -1.200000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_cont2" type="box" pos="18.200001 4.600000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_018_dcol_11_0_5_8" type="box" pos="11.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_020_dcol_3_0_5_8" type="box" pos="3.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_028_dcone_1" type="box" pos="9.000000 0.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_030_dconebase_1" type="box" pos="9.000000 0.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_dendwall" type="box" pos="21.000000 0.000000 2.400000" size="0.150000 11.000000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_dwall" type="box" pos="4.000000 -5.400000 2.400000" size="18.000000 0.150000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_pjack" type="box" pos="6.400000 -2.100000 0.100000" size="0.250000 0.175000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_pjack_handle" type="box" pos="6.150000 -2.100000 0.420000" size="0.025000 0.025000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_twheel_0" type="box" pos="14.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_twheel_1" type="box" pos="15.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_wbox1_1" type="box" pos="5.200000 -3.300000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_wbox1_3" type="box" pos="2.000000 -2.500000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_wbox2_1" type="box" pos="5.240000 -3.300000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_wpal_0" type="box" pos="-0.300000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_wpal_1" type="box" pos="5.200000 -3.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_wpal_2" type="box" pos="10.400000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_wpal_3" type="box" pos="2.000000 -2.500000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_wrap_0" type="box" pos="-0.300000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_wrap_2" type="box" pos="10.400000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_wtop_0" type="box" pos="-0.300000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_wtop_2" type="box" pos="10.400000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <body name="rover_base" pos="0 0 0.22">
+      <freejoint name="rover_freejoint"/>
+      <inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <body name="rover_fl_wheel" pos=" 0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rl_wheel" pos="-0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="0.000000 -2.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="rover_visual">
+      <geom contype="0" conaffinity="0" group="2" type="mesh"/>
+    </default>
+    <default class="rover_wheel">
+      <geom friction="1.4 0.02 0.01" condim="3" type="cylinder"
+            size="0.12 0.03"/>
+    </default>
+  </default>
+  <actuator>
+<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60"/>
+    <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60"/>
+    <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60"/>
+    <velocity name="rr_wheel" joint="rr_wheel_joint" kv="60"/>
+  </actuator>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/industrial-3_weld/M1/module1/scene_enriched.xml

@@ -0,0 +1,40 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="3.000000 3.000000 0.000000" size="3.000000 3.000000 0.100000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_01" type="box" pos="1.000000 5.500000 0.010000" size="0.750000 0.500000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_02" type="box" pos="3.000000 1.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_03" type="box" pos="3.000000 2.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_04" type="box" pos="3.000000 2.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_05" type="box" pos="3.000000 3.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_06" type="box" pos="3.000000 3.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_07" type="box" pos="3.000000 4.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_08" type="box" pos="3.000000 4.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_09" type="box" pos="3.000000 5.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_10" type="box" pos="2.500000 3.000000 0.050000" size="0.030000 1.000000 0.030000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="0.000000 0.000000 0.000000" size="3.000000 0.100000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_01" type="box" pos="3.000000 3.000000 4.010000" size="0.650000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_02" type="box" pos="3.000000 3.000000 3.950000" size="0.750000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_03" type="box" pos="1.000000 5.500000 4.010000" size="0.400000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_04" type="box" pos="1.000000 5.500000 3.950000" size="0.500000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_05" type="box" pos="3.000000 3.000000 4.000000" size="3.000000 3.000000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_06" type="box" pos="5.500000 3.000000 3.800000" size="3.000000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_07" type="box" pos="0.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_08" type="box" pos="6.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_control_panel" type="box" pos="1.000000 5.200000 0.700000" size="0.445343 0.445343 0.700000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_fume_extraction_hood" type="box" pos="3.000000 3.800000 2.900000" size="0.600000 0.600000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_gas_cylinder_rack" type="box" pos="5.000000 5.200000 0.700000" size="0.400000 0.222500 0.725000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_welding_helmet" type="box" pos="1.200000 5.150000 1.575000" size="0.125000 0.212500 0.125000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_welding_robot_base" type="box" pos="3.000000 2.000000 0.900000" size="0.600000 0.600000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_welding_table" type="box" pos="2.500000 3.500000 0.800000" size="0.800000 0.500000 0.450000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-1_agv_city/M1/module1/scene_enriched.xml

@@ -0,0 +1,73 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../../tmp_agv_city_export2/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_agv_city_export2/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_agv_city_export2/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../../tmp_agv_city_export2/background_terrain_03_collision.obj"/>
+    <mesh name="terrain_04" file="../../../../tmp_agv_city_export2/background_terrain_04_collision.obj"/>
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_04" type="mesh" mesh="terrain_04" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_-1_0" type="box" pos="-3.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_-1_1" type="box" pos="4.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_-1_2" type="box" pos="11.000000 -9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_-1_3" type="box" pos="18.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_-1_4" type="box" pos="25.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_1_0" type="box" pos="-3.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_1_1" type="box" pos="4.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_1_2" type="box" pos="11.000000 9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_1_3" type="box" pos="18.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_1_4" type="box" pos="25.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lamp_arm_-1_-2_0" type="box" pos="-2.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lamp_arm_-1_10_0" type="box" pos="10.000000 -4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lamp_arm_-1_16_0" type="box" pos="16.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lamp_arm_-1_4_0" type="box" pos="4.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lamp_arm_1_-2_0" type="box" pos="-2.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lamp_arm_1_10_0" type="box" pos="10.000000 4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lamp_arm_1_16_0" type="box" pos="16.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lamp_arm_1_4_0" type="box" pos="4.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lamp_head_-1_-2_0" type="box" pos="-2.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lamp_head_-1_10_0" type="box" pos="10.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lamp_head_-1_16_0" type="box" pos="16.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lamp_head_-1_4_0" type="box" pos="4.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lamp_head_1_-2_0" type="box" pos="-2.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lamp_head_1_10_0" type="box" pos="10.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lamp_head_1_16_0" type="box" pos="16.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lamp_head_1_4_0" type="box" pos="4.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lamp_pole_-1_-2_0" type="box" pos="-2.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lamp_pole_-1_10_0" type="box" pos="10.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lamp_pole_-1_16_0" type="box" pos="16.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lamp_pole_-1_4_0" type="box" pos="4.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lamp_pole_1_-2_0" type="box" pos="-2.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lamp_pole_1_10_0" type="box" pos="10.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lamp_pole_1_16_0" type="box" pos="16.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_lamp_pole_1_4_0" type="box" pos="4.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tree_crown_-1_-0_5" type="box" pos="-0.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tree_crown_-1_12_0" type="box" pos="12.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tree_crown_-1_18_0" type="box" pos="18.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tree_crown_-1_5_5" type="box" pos="5.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tree_crown_1_-0_5" type="box" pos="-0.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tree_crown_1_12_0" type="box" pos="12.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tree_crown_1_18_0" type="box" pos="18.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tree_crown_1_5_5" type="box" pos="5.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tree_trunk_-1_-0_5" type="box" pos="-0.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tree_trunk_-1_12_0" type="box" pos="12.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tree_trunk_-1_18_0" type="box" pos="18.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tree_trunk_-1_5_5" type="box" pos="5.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tree_trunk_1_-0_5" type="box" pos="-0.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tree_trunk_1_12_0" type="box" pos="12.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tree_trunk_1_18_0" type="box" pos="18.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_049_tree_trunk_1_5_5" type="box" pos="5.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-1_agv_city/rollout/scene_m2.xml

@@ -0,0 +1,133 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../tmp_agv_city_export2/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_agv_city_export2/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_agv_city_export2/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../tmp_agv_city_export2/background_terrain_03_collision.obj"/>
+    <mesh name="terrain_04" file="../../../tmp_agv_city_export2/background_terrain_04_collision.obj"/>
+  
+<mesh name="rover_body"  file="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../rover_assets/rover_wheel.obj"/>
+    <material name="rover_chassis" rgba="0.15 0.35 0.55 1"/>
+    <material name="rover_wheel"   rgba="0.12 0.12 0.12 1"/>
+    <material name="rover_detail"  rgba="0.80 0.60 0.10 1"/>
+</asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_04" type="mesh" mesh="terrain_04" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_-1_0" type="box" pos="-3.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_-1_1" type="box" pos="4.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_-1_2" type="box" pos="11.000000 -9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_-1_3" type="box" pos="18.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_-1_4" type="box" pos="25.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_1_0" type="box" pos="-3.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_1_1" type="box" pos="4.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_1_2" type="box" pos="11.000000 9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_1_3" type="box" pos="18.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_1_4" type="box" pos="25.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lamp_arm_-1_-2_0" type="box" pos="-2.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lamp_arm_-1_10_0" type="box" pos="10.000000 -4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lamp_arm_-1_16_0" type="box" pos="16.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lamp_arm_-1_4_0" type="box" pos="4.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lamp_arm_1_-2_0" type="box" pos="-2.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lamp_arm_1_10_0" type="box" pos="10.000000 4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lamp_arm_1_16_0" type="box" pos="16.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lamp_arm_1_4_0" type="box" pos="4.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lamp_head_-1_-2_0" type="box" pos="-2.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lamp_head_-1_10_0" type="box" pos="10.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lamp_head_-1_16_0" type="box" pos="16.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lamp_head_-1_4_0" type="box" pos="4.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lamp_head_1_-2_0" type="box" pos="-2.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lamp_head_1_10_0" type="box" pos="10.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lamp_head_1_16_0" type="box" pos="16.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lamp_head_1_4_0" type="box" pos="4.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lamp_pole_-1_-2_0" type="box" pos="-2.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lamp_pole_-1_10_0" type="box" pos="10.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lamp_pole_-1_16_0" type="box" pos="16.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lamp_pole_-1_4_0" type="box" pos="4.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lamp_pole_1_-2_0" type="box" pos="-2.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lamp_pole_1_10_0" type="box" pos="10.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lamp_pole_1_16_0" type="box" pos="16.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_lamp_pole_1_4_0" type="box" pos="4.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tree_crown_-1_-0_5" type="box" pos="-0.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tree_crown_-1_12_0" type="box" pos="12.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tree_crown_-1_18_0" type="box" pos="18.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tree_crown_-1_5_5" type="box" pos="5.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tree_crown_1_-0_5" type="box" pos="-0.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tree_crown_1_12_0" type="box" pos="12.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tree_crown_1_18_0" type="box" pos="18.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tree_crown_1_5_5" type="box" pos="5.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tree_trunk_-1_-0_5" type="box" pos="-0.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tree_trunk_-1_12_0" type="box" pos="12.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tree_trunk_-1_18_0" type="box" pos="18.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tree_trunk_-1_5_5" type="box" pos="5.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tree_trunk_1_-0_5" type="box" pos="-0.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tree_trunk_1_12_0" type="box" pos="12.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tree_trunk_1_18_0" type="box" pos="18.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_049_tree_trunk_1_5_5" type="box" pos="5.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <body name="rover_base" pos="0 0 0.22">
+      <freejoint name="rover_freejoint"/>
+      <inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <body name="rover_fl_wheel" pos=" 0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="fr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rl_wheel" pos="-0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rl_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+      <body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005"/>
+        <joint name="rr_wheel_joint" axis="0 1 0"/>
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="0.000000 0.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="rover_visual">
+      <geom contype="0" conaffinity="0" group="2" type="mesh"/>
+    </default>
+    <default class="rover_wheel">
+      <geom friction="1.4 0.02 0.01" condim="3" type="cylinder"
+            size="0.12 0.03"/>
+    </default>
+  </default>
+  <actuator>
+<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60"/>
+    <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60"/>
+    <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60"/>
+    <velocity name="rr_wheel" joint="rr_wheel_joint" kv="60"/>
+  </actuator>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-2_intersection/M1/module1/scene_enriched.xml

@@ -0,0 +1,70 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../../tmp_intersection_export5/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_intersection_export5/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_intersection_export5/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../../tmp_intersection_export5/background_terrain_03_collision.obj"/>
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(500)_spawn_asset(500)" type="box" pos="13.712501 -9.000000 8.188813" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(503)_spawn_asset(503)" type="box" pos="14.000000 9.000000 8.633354" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.712500 -7.000000 8.949287" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-13.712500 2.000000 7.232032" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="-13.712500 10.000000 5.158244" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BrickBuildingFactory(710)_spawn_asset(710)" type="box" pos="0.000000 -16.000000 8.209558" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="14.000000 -4.000000 4.664883" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_ConcreteBuildingFactory(502)_spawn_asset(502)" type="box" pos="13.712500 4.000000 8.972380" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="-14.000000 -11.000000 6.514639" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_lt_e-9_arm" type="box" pos="3.850000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_e-9_lamp" type="box" pos="3.250000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_e-9_pole" type="box" pos="4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_e0_arm" type="box" pos="3.850000 0.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_e0_lamp" type="box" pos="3.250000 0.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_e0_pole" type="box" pos="4.600000 0.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_e9_arm" type="box" pos="3.850000 9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_e9_lamp" type="box" pos="3.250000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_e9_pole" type="box" pos="4.600000 9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_w-9_arm" type="box" pos="-5.350000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_w-9_lamp" type="box" pos="-5.950000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_w-9_pole" type="box" pos="-4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_w0_arm" type="box" pos="-5.350000 0.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_w0_lamp" type="box" pos="-5.950000 0.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_w0_pole" type="box" pos="-4.600000 0.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_w9_arm" type="box" pos="-5.350000 9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_w9_lamp" type="box" pos="-5.950000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lt_w9_pole" type="box" pos="-4.600000 9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lt_x_n_arm" type="box" pos="-0.750000 4.600000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lt_x_n_lamp" type="box" pos="-1.350000 4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lt_x_n_pole" type="box" pos="0.000000 4.600000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lt_x_s_arm" type="box" pos="-0.750000 -4.600000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lt_x_s_lamp" type="box" pos="-1.350000 -4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lt_x_s_pole" type="box" pos="0.000000 -4.600000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_tl_0_arm" type="box" pos="5.000000 -5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tl_0_head" type="box" pos="5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tl_0_lamp" type="box" pos="5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tl_0_pole" type="box" pos="5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tl_1_arm" type="box" pos="-5.000000 -5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tl_1_head" type="box" pos="-5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tl_1_lamp" type="box" pos="-5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tl_1_pole" type="box" pos="-5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tl_2_arm" type="box" pos="5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tl_2_head" type="box" pos="5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tl_2_lamp" type="box" pos="5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tl_2_pole" type="box" pos="5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tl_3_arm" type="box" pos="-5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tl_3_head" type="box" pos="-5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tl_3_lamp" type="box" pos="-5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tl_3_pole" type="box" pos="-5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-2_intersection/rollout/scene_m2.xml

@@ -0,0 +1,275 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../tmp_intersection_export5/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_intersection_export5/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_intersection_export5/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../tmp_intersection_export5/background_terrain_03_collision.obj"/>
+  
+<material name="metal" rgba=".9 .95 .95 1"/>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="gray" rgba="0.671705 0.692426 0.774270 1"/>
+
+    <mesh file="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/foot.obj"/>
+</asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(500)_spawn_asset(500)" type="box" pos="13.712501 -9.000000 8.188813" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(503)_spawn_asset(503)" type="box" pos="14.000000 9.000000 8.633354" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.712500 -7.000000 8.949287" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-13.712500 2.000000 7.232032" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="-13.712500 10.000000 5.158244" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BrickBuildingFactory(710)_spawn_asset(710)" type="box" pos="0.000000 -16.000000 8.209558" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="14.000000 -4.000000 4.664883" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_ConcreteBuildingFactory(502)_spawn_asset(502)" type="box" pos="13.712500 4.000000 8.972380" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="-14.000000 -11.000000 6.514639" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_lt_e-9_arm" type="box" pos="3.850000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_e-9_lamp" type="box" pos="3.250000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_e-9_pole" type="box" pos="4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_e0_arm" type="box" pos="3.850000 0.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_e0_lamp" type="box" pos="3.250000 0.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_e0_pole" type="box" pos="4.600000 0.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_e9_arm" type="box" pos="3.850000 9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_e9_lamp" type="box" pos="3.250000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_e9_pole" type="box" pos="4.600000 9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_w-9_arm" type="box" pos="-5.350000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_w-9_lamp" type="box" pos="-5.950000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_w-9_pole" type="box" pos="-4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_025_lt_w9_lamp" type="box" pos="-5.950000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_028_lt_x_n_lamp" type="box" pos="-1.350000 4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_030_lt_x_s_arm" type="box" pos="-0.750000 -4.600000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lt_x_s_lamp" type="box" pos="-1.350000 -4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lt_x_s_pole" type="box" pos="0.000000 -4.600000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_034_tl_0_head" type="box" pos="5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tl_0_lamp" type="box" pos="5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tl_0_pole" type="box" pos="5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tl_1_arm" type="box" pos="-5.000000 -5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tl_1_head" type="box" pos="-5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tl_1_lamp" type="box" pos="-5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tl_1_pole" type="box" pos="-5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tl_2_arm" type="box" pos="5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tl_2_head" type="box" pos="5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tl_2_lamp" type="box" pos="5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tl_2_pole" type="box" pos="5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tl_3_arm" type="box" pos="-5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tl_3_head" type="box" pos="-5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tl_3_lamp" type="box" pos="-5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tl_3_pole" type="box" pos="-5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  <body name="stone" pos="5.0 0.0 0.0"><freejoint/><geom type="sphere" size="0.10" rgba="0 0 0 0" contype="0" conaffinity="0" density="2000"/></body>
+  
+<body name="base" pos="0 0 0.445" childclass="go2">
+      <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
+        diaginertia="0.107027 0.0980771 0.0244531"/>
+      <freejoint/>
+      <geom mesh="base_0" material="black" class="visual"/>
+      <geom mesh="base_1" material="black" class="visual"/>
+      <geom mesh="base_2" material="black" class="visual"/>
+      <geom mesh="base_3" material="white" class="visual"/>
+      <geom mesh="base_4" material="gray" class="visual"/>
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
+      <site name="imu" pos="-0.02557 0 0.04232"/>
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual"/>
+        <geom mesh="hip_1" material="gray" class="visual"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FL_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FR_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FR" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RL_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RR_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RR" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="5.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 -3.000000 0.000000 0.270000 1.000000 0.000000 0.000000 0.000000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="go2">
+      <geom friction="0.6" margin="0.001" condim="1"/>
+      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
+      <motor ctrlrange="-23.7 23.7"/>
+      <default class="abduction">
+        <joint axis="1 0 0" range="-1.0472 1.0472"/>
+      </default>
+      <default class="hip">
+        <default class="front_hip">
+          <joint range="-1.5708 3.4907"/>
+        </default>
+        <default class="back_hip">
+          <joint range="-0.5236 4.5379"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint range="-2.7227 -0.83776"/>
+        <motor ctrlrange="-45.43 45.43"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
+            friction="0.8 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+  <actuator>
+<motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
+  </actuator>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-3_delivery/M1/module1/scene_enriched.xml

@@ -0,0 +1,45 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../../tmp_dgo2_export3/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_dgo2_export3/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_dgo2_export3/background_terrain_02_collision.obj"/>
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.999999 -11.712500 8.949287" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-6.000000 -11.712500 7.232032" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="2.000000 -11.712501 5.158244" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(603)_spawn_asset(603)" type="box" pos="10.000000 -12.000000 5.524148" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BuildingFactory(500)_spawn_asset(500)" type="box" pos="-16.000000 11.712500 8.188813" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="-8.000000 12.000000 4.664883" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(502)_spawn_asset(502)" type="box" pos="0.000000 11.712500 8.972380" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_BuildingFactory(503)_spawn_asset(503)" type="box" pos="8.000000 12.000000 8.633354" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_BuildingFactory(504)_spawn_asset(504)" type="box" pos="16.000000 11.712500 4.804664" size="0.150000 4.750609 4.978865" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="19.000000 -12.000000 6.514639" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_n-12_lamp" type="box" pos="-12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_n-12_pole" type="box" pos="-12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_013_lt_n-4_pole" type="box" pos="-4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_n12_lamp" type="box" pos="12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_n12_pole" type="box" pos="12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_n4_lamp" type="box" pos="4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_n4_pole" type="box" pos="4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_s-12_lamp" type="box" pos="-12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_s-12_pole" type="box" pos="-12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_s-4_lamp" type="box" pos="-4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_s-4_pole" type="box" pos="-4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_s12_lamp" type="box" pos="12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_s12_pole" type="box" pos="12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_s4_lamp" type="box" pos="4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_s4_pole" type="box" pos="4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/urban-3_delivery/rollout/scene_m2.xml

@@ -0,0 +1,250 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../tmp_dgo2_export3/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_dgo2_export3/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_dgo2_export3/background_terrain_02_collision.obj"/>
+  
+<material name="metal" rgba=".9 .95 .95 1"/>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="gray" rgba="0.671705 0.692426 0.774270 1"/>
+
+    <mesh file="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/foot.obj"/>
+</asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.999999 -11.712500 8.949287" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-6.000000 -11.712500 7.232032" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="2.000000 -11.712501 5.158244" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(603)_spawn_asset(603)" type="box" pos="10.000000 -12.000000 5.524148" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BuildingFactory(500)_spawn_asset(500)" type="box" pos="-16.000000 11.712500 8.188813" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="-8.000000 12.000000 4.664883" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(502)_spawn_asset(502)" type="box" pos="0.000000 11.712500 8.972380" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_BuildingFactory(503)_spawn_asset(503)" type="box" pos="8.000000 12.000000 8.633354" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_BuildingFactory(504)_spawn_asset(504)" type="box" pos="16.000000 11.712500 4.804664" size="0.150000 4.750609 4.978865" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="19.000000 -12.000000 6.514639" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_n-12_lamp" type="box" pos="-12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_n-12_pole" type="box" pos="-12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_n-4_lamp" type="box" pos="-4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_n-4_pole" type="box" pos="-4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_n12_lamp" type="box" pos="12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_n12_pole" type="box" pos="12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_n4_lamp" type="box" pos="4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_n4_pole" type="box" pos="4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_s-12_lamp" type="box" pos="-12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_s-12_pole" type="box" pos="-12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_s-4_lamp" type="box" pos="-4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_s-4_pole" type="box" pos="-4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_s12_lamp" type="box" pos="12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_s12_pole" type="box" pos="12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_s4_lamp" type="box" pos="4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_s4_pole" type="box" pos="4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  <body name="stone" pos="6.0 4.5 0.0"><freejoint/><geom type="sphere" size="0.10" rgba="0 0 0 0" contype="0" conaffinity="0" density="2000"/></body>
+  
+<body name="base" pos="0 0 0.445" childclass="go2">
+      <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
+        diaginertia="0.107027 0.0980771 0.0244531"/>
+      <freejoint/>
+      <geom mesh="base_0" material="black" class="visual"/>
+      <geom mesh="base_1" material="black" class="visual"/>
+      <geom mesh="base_2" material="black" class="visual"/>
+      <geom mesh="base_3" material="white" class="visual"/>
+      <geom mesh="base_4" material="gray" class="visual"/>
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
+      <site name="imu" pos="-0.02557 0 0.04232"/>
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual"/>
+        <geom mesh="hip_1" material="gray" class="visual"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FL_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FR_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FR" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RL_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RR_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RR" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="6.000000 4.500000 0.000000 1.000000 0.000000 0.000000 0.000000 0.500000 4.500000 0.270000 1.000000 0.000000 0.000000 0.000000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="go2">
+      <geom friction="0.6" margin="0.001" condim="1"/>
+      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
+      <motor ctrlrange="-23.7 23.7"/>
+      <default class="abduction">
+        <joint axis="1 0 0" range="-1.0472 1.0472"/>
+      </default>
+      <default class="hip">
+        <default class="front_hip">
+          <joint range="-1.5708 3.4907"/>
+        </default>
+        <default class="back_hip">
+          <joint range="-0.5236 4.5379"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint range="-2.7227 -0.83776"/>
+        <motor ctrlrange="-45.43 45.43"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
+            friction="0.8 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+  <actuator>
+<motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
+  </actuator>
+</mujoco>

data/runtime/vendor/handover9_20260921/export_singleroom_lr_go2/module2/go2_local/go2.xml

@@ -0,0 +1,219 @@
+<mujoco model="go2">
+  <compiler angle="radian" autolimits="true"/>
+
+  <option cone="elliptic" impratio="100"/>
+
+  <default>
+    <default class="go2">
+      <geom friction="0.6" margin="0.001" condim="1"/>
+      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
+      <motor ctrlrange="-23.7 23.7"/>
+      <default class="abduction">
+        <joint axis="1 0 0" range="-1.0472 1.0472"/>
+      </default>
+      <default class="hip">
+        <default class="front_hip">
+          <joint range="-1.5708 3.4907"/>
+        </default>
+        <default class="back_hip">
+          <joint range="-0.5236 4.5379"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint range="-2.7227 -0.83776"/>
+        <motor ctrlrange="-45.43 45.43"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
+            friction="0.8 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="metal" rgba=".9 .95 .95 1"/>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="gray" rgba="0.671705 0.692426 0.774270 1"/>
+
+    <mesh file="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/foot.obj"/>
+  </asset>
+
+  <worldbody>
+    <body name="base" pos="0 0 0.445" childclass="go2">
+      <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
+        diaginertia="0.107027 0.0980771 0.0244531"/>
+      <freejoint/>
+      <geom mesh="base_0" material="black" class="visual"/>
+      <geom mesh="base_1" material="black" class="visual"/>
+      <geom mesh="base_2" material="black" class="visual"/>
+      <geom mesh="base_3" material="white" class="visual"/>
+      <geom mesh="base_4" material="gray" class="visual"/>
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
+      <site name="imu" pos="-0.02557 0 0.04232"/>
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual"/>
+        <geom mesh="hip_1" material="gray" class="visual"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FL_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="FR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="FR_thigh_joint" class="front_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="FR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FR" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RL_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RL_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_0" material="metal" class="visual"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RL_calf_joint" class="knee"/>
+            <geom mesh="calf_0" material="gray" class="visual"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RL" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967"/>
+        <joint name="RR_hip_joint" class="abduction"/>
+        <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787"/>
+          <joint name="RR_thigh_joint" class="back_hip"/>
+          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <body name="RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
+            <joint name="RR_calf_joint" class="knee"/>
+            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RR" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
+      ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"/>
+  </keyframe>
+</mujoco>

data/runtime/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml

@@ -0,0 +1,73 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_03" type="box" pos="3.750000 1.500000 2.847848" size="3.115343 3.365343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_06" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_07" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_08" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_09" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_10" type="box" pos="1.508270 7.784414 2.803499" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_11" type="box" pos="7.864501 7.822870 2.803533" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_12" type="box" pos="8.858983 6.494686 2.803618" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_13" type="box" pos="10.484507 3.336327 2.803633" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_14" type="box" pos="8.000000 11.750000 2.841525" size="2.865343 2.615343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_20" type="box" pos="2.500000 12.000000 2.841525" size="2.365343 2.865343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_27" type="box" pos="6.000014 4.500028 2.841511" size="5.865357 4.365371 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_46" type="box" pos="0.200246 12.606551 1.612692" size="0.113633 1.724704 0.577052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_47" type="box" pos="10.268782 0.221279 1.612692" size="1.032094 0.123587 0.567085" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_48" type="box" pos="11.504667 8.865343 1.612692" size="0.310587 0.048224 0.566347" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_49" type="box" pos="-0.134657 6.616748 1.612692" size="0.047080 0.554498 0.578489" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_50" type="box" pos="10.865343 12.017402 1.612692" size="0.051632 0.980857 0.580569" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_51" type="box" pos="8.657573 14.301145 1.612692" size="1.115823 0.093839 0.571772" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_52" type="box" pos="1.779625 14.865343 1.612692" size="1.255290 0.036613 0.579883" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_53" type="box" pos="0.719665 0.973875 1.612692" size="0.098047 0.347702 0.564146" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_55" type="box" pos="8.145028 -2.365343 1.612692" size="0.539432 0.038521 0.575122" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_56" type="box" pos="8.865343 -1.584380 1.612692" size="0.044263 0.675119 0.583133" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_59" type="box" pos="3.468543 -1.779490 1.612692" size="0.366064 0.095106 0.565052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_60" type="box" pos="5.448463 -1.865343 1.612692" size="1.010812 0.045593 0.569298" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_61" type="box" pos="0.634657 3.379360 1.612692" size="0.049008 0.447093 0.570971" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_NatureShelfTrinketsFactory(2360152)_spawn_asset(6010769)" type="box" pos="11.671710 3.321193 1.078800" size="0.074880 0.022258 0.040052" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_008_NatureShelfTrinketsFactory(2993447)_spawn_asset(8887566)" type="box" pos="11.594666 1.845038 0.715467" size="0.017762 0.056553 0.065661" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_009_NatureShelfTrinketsFactory(5228049)_spawn_asset(7578459)" type="box" pos="9.648227 8.685778 1.902127" size="0.057532 0.044511 0.059137" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <body name="stone" pos="5.2 5.7 0.145"><freejoint/><geom type="sphere" size="0.10" rgba="0 0 0 0" contype="0" conaffinity="0" density="2000"/></body>
+  </worldbody>
+  <include file="go2_local/go2.xml"/><keyframe><key name="m2_init" qpos="5.200000 5.700000 0.145000 1.000000 0.000000 0.000000 0.000000 2.500000 6.300000 0.415000 1.000000 0.000000 0.000000 0.000000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+</mujoco>

data/runtime/vendor/handover9_20260921/rover_assets/rover_body.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.40000000 -0.25000000 -0.10000000
+v -0.40000000 -0.25000000 0.10000000
+v -0.40000000 0.25000000 -0.10000000
+v -0.40000000 0.25000000 0.10000000
+v 0.40000000 -0.25000000 -0.10000000
+v 0.40000000 -0.25000000 0.10000000
+v 0.40000000 0.25000000 -0.10000000
+v 0.40000000 0.25000000 0.10000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

data/runtime/vendor/handover9_20260921/rover_assets/rover_wheel.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.03000000 -0.00000000
+v 0.12000000 0.03000000 -0.00000000
+v 0.12000000 -0.03000000 0.00000000
+v 0.00000000 -0.03000000 0.00000000
+v 0.11591110 0.03000000 0.03105829
+v 0.11591110 -0.03000000 0.03105829
+v 0.10392305 0.03000000 0.06000000
+v 0.10392305 -0.03000000 0.06000000
+v 0.08485281 0.03000000 0.08485281
+v 0.08485281 -0.03000000 0.08485281
+v 0.06000000 0.03000000 0.10392305
+v 0.06000000 -0.03000000 0.10392305
+v 0.03105829 0.03000000 0.11591110
+v 0.03105829 -0.03000000 0.11591110
+v 0.00000000 0.03000000 0.12000000
+v 0.00000000 -0.03000000 0.12000000
+v -0.03105829 0.03000000 0.11591110
+v -0.03105829 -0.03000000 0.11591110
+v -0.06000000 0.03000000 0.10392305
+v -0.06000000 -0.03000000 0.10392305
+v -0.08485281 0.03000000 0.08485281
+v -0.08485281 -0.03000000 0.08485281
+v -0.10392305 0.03000000 0.06000000
+v -0.10392305 -0.03000000 0.06000000
+v -0.11591110 0.03000000 0.03105829
+v -0.11591110 -0.03000000 0.03105829
+v -0.12000000 0.03000000 0.00000000
+v -0.12000000 -0.03000000 0.00000000
+v -0.11591110 0.03000000 -0.03105829
+v -0.11591110 -0.03000000 -0.03105829
+v -0.10392305 0.03000000 -0.06000000
+v -0.10392305 -0.03000000 -0.06000000
+v -0.08485281 0.03000000 -0.08485281
+v -0.08485281 -0.03000000 -0.08485281
+v -0.06000000 0.03000000 -0.10392305
+v -0.06000000 -0.03000000 -0.10392305
+v -0.03105829 0.03000000 -0.11591110
+v -0.03105829 -0.03000000 -0.11591110
+v -0.00000000 0.03000000 -0.12000000
+v -0.00000000 -0.03000000 -0.12000000
+v 0.03105829 0.03000000 -0.11591110
+v 0.03105829 -0.03000000 -0.11591110
+v 0.06000000 0.03000000 -0.10392305
+v 0.06000000 -0.03000000 -0.10392305
+v 0.08485281 0.03000000 -0.08485281
+v 0.08485281 -0.03000000 -0.08485281
+v 0.10392305 0.03000000 -0.06000000
+v 0.10392305 -0.03000000 -0.06000000
+v 0.11591110 0.03000000 -0.03105829
+v 0.11591110 -0.03000000 -0.03105829
+f 2 1 5
+f 2 5 3
+f 3 5 6
+f 3 6 4
+f 5 1 7
+f 5 7 6
+f 6 7 8
+f 6 8 4
+f 7 1 9
+f 7 9 8
+f 8 9 10
+f 8 10 4
+f 9 1 11
+f 9 11 10
+f 10 11 12
+f 10 12 4
+f 11 1 13
+f 11 13 12
+f 12 13 14
+f 12 14 4
+f 13 1 15
+f 13 15 14
+f 14 15 16
+f 14 16 4
+f 15 1 17
+f 15 17 16
+f 16 17 18
+f 16 18 4
+f 17 1 19
+f 17 19 18
+f 18 19 20
+f 18 20 4
+f 19 1 21
+f 19 21 20
+f 20 21 22
+f 20 22 4
+f 21 1 23
+f 21 23 22
+f 22 23 24
+f 22 24 4
+f 23 1 25
+f 23 25 24
+f 24 25 26
+f 24 26 4
+f 25 1 27
+f 25 27 26
+f 26 27 28
+f 26 28 4
+f 27 1 29
+f 27 29 28
+f 28 29 30
+f 28 30 4
+f 29 1 31
+f 29 31 30
+f 30 31 32
+f 30 32 4
+f 31 1 33
+f 31 33 32
+f 32 33 34
+f 32 34 4
+f 33 1 35
+f 33 35 34
+f 34 35 36
+f 34 36 4
+f 35 1 37
+f 35 37 36
+f 36 37 38
+f 36 38 4
+f 37 1 39
+f 37 39 38
+f 38 39 40
+f 38 40 4
+f 39 1 41
+f 39 41 40
+f 40 41 42
+f 40 42 4
+f 41 1 43
+f 41 43 42
+f 42 43 44
+f 42 44 4
+f 43 1 45
+f 43 45 44
+f 44 45 46
+f 44 46 4
+f 45 1 47
+f 45 47 46
+f 46 47 48
+f 46 48 4
+f 47 1 49
+f 47 49 48
+f 48 49 50
+f 48 50 4
+f 49 1 2
+f 49 2 50
+f 50 2 3
+f 50 3 4

data/runtime/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_00_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: curb_-1.001 (8v 6f)
+v -10.000000 -4.100000 0.030000
+v -10.000000 -4.100000 0.190000
+v -10.000000 -4.000000 0.030000
+v -10.000000 -4.000000 0.190000
+v 30.000000 -4.100000 0.030000
+v 30.000000 -4.100000 0.190000
+v 30.000000 -4.000000 0.030000
+v 30.000000 -4.000000 0.190000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_01_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: curb_1.001 (8v 6f)
+v -10.000000 4.000000 0.030000
+v -10.000000 4.000000 0.190000
+v -10.000000 4.100000 0.030000
+v -10.000000 4.100000 0.190000
+v 30.000000 4.000000 0.030000
+v 30.000000 4.000000 0.190000
+v 30.000000 4.100000 0.030000
+v 30.000000 4.100000 0.190000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_02_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: road.001 (8v 6f)
+v -10.000000 -4.000000 -0.100000
+v -10.000000 -4.000000 0.000000
+v -10.000000 4.000000 -0.100000
+v -10.000000 4.000000 0.000000
+v 30.000000 -4.000000 -0.100000
+v 30.000000 -4.000000 0.000000
+v 30.000000 4.000000 -0.100000
+v 30.000000 4.000000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_03_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: sidewalk_-1.001 (8v 6f)
+v -10.000000 -7.000000 0.050000
+v -10.000000 -7.000000 0.150000
+v -10.000000 -4.000000 0.050000
+v -10.000000 -4.000000 0.150000
+v 30.000000 -7.000000 0.050000
+v 30.000000 -7.000000 0.150000
+v 30.000000 -4.000000 0.050000
+v 30.000000 -4.000000 0.150000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_04_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: sidewalk_1.001 (8v 6f)
+v -10.000000 4.000000 0.050000
+v -10.000000 4.000000 0.150000
+v -10.000000 7.000000 0.050000
+v -10.000000 7.000000 0.150000
+v 30.000000 4.000000 0.050000
+v 30.000000 4.000000 0.150000
+v 30.000000 7.000000 0.050000
+v 30.000000 7.000000 0.150000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_00_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: road.001 (8v 6f)
+v -18.000000 -4.000000 -0.120000
+v -18.000000 -4.000000 0.000000
+v -18.000000 4.000000 -0.120000
+v -18.000000 4.000000 0.000000
+v 18.000000 -4.000000 -0.120000
+v 18.000000 -4.000000 0.000000
+v 18.000000 4.000000 -0.120000
+v 18.000000 4.000000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_01_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: sidewalk_n.001 (8v 6f)
+v -18.000000 4.300000 -0.140000
+v -18.000000 4.300000 0.000000
+v -18.000000 5.700000 -0.140000
+v -18.000000 5.700000 0.000000
+v 18.000000 4.300000 -0.140000
+v 18.000000 4.300000 0.000000
+v 18.000000 5.700000 -0.140000
+v 18.000000 5.700000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_02_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: sidewalk_s.001 (8v 6f)
+v -18.000000 -5.700000 -0.140000
+v -18.000000 -5.700000 0.000000
+v -18.000000 -4.300000 -0.140000
+v -18.000000 -4.300000 0.000000
+v 18.000000 -5.700000 -0.140000
+v 18.000000 -5.700000 0.000000
+v 18.000000 -4.300000 -0.140000
+v 18.000000 -4.300000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_intersection_export5/background_terrain_00_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: cross_road_x.001 (8v 6f)
+v -16.000000 -4.000000 -0.120000
+v -16.000000 -4.000000 0.000000
+v -16.000000 4.000000 -0.120000
+v -16.000000 4.000000 0.000000
+v 16.000000 -4.000000 -0.120000
+v 16.000000 -4.000000 0.000000
+v 16.000000 4.000000 -0.120000
+v 16.000000 4.000000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

data/runtime/vendor/handover9_20260921/tmp_intersection_export5/background_terrain_01_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: road.001 (8v 6f)
+v -4.000000 -16.500000 -0.120000
+v -4.000000 -16.500000 0.000000
+v -4.000000 15.500000 -0.120000
+v -4.000000 15.500000 0.000000
+v 4.000000 -16.500000 -0.120000
+v 4.000000 -16.500000 0.000000
+v 4.000000 15.500000 -0.120000
+v 4.000000 15.500000 0.000000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6