Add SimCode4D runtime assets 9/13

data/runtime/vendor/handover9_20260921/universal_robots_ur5e/LICENSE

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+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

data/runtime/vendor/handover9_20260921/universal_robots_ur5e/README.md

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+# Universal Robots UR5e Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[UR5e](https://www.universal-robots.com/products/ur5-robot/) developed by
+[Universal Robots](https://www.universal-robots.com/). It is derived from the
+[publicly available URDF
+description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
+
+<p float="left">
+  <img src="ur5e.png" width="400">
+</p>
+
+### URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur5e/visual)
+   to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with  [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a tracking light to the base.
+6. Manually edited the MJCF to extract common properties into the `<default>` section.
+7. Added position-controlled actuators. Max joint torque values were taken from
+   [here](https://www.universal-robots.com/articles/ur/robot-care-maintenance/max-joint-torques/).
+8. Added home joint configuration as a `keyframe`.
+9. Manually designed collision geometries.
+10. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).