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This PR adds multiple robot arm configurations under roboverse_data/robots.
The following models are included, with their available formats (URDF / MJCF / USD) :
ARX L5 → MJCF ✅, URDF ❌, USD ❌
iiwa14 (KUKA) → URDF ✅, MJCF ✅, USD ✅
Lite6 (UFactory) → MJCF ✅, URDF ❌, USD ❌
Franka Emika Panda → URDF ✅, MJCF ✅, USD ✅
Sawyer (Rethink Robotics) → URDF ✅, USD ✅, MJCF ❌
Unitree Z1 → URDF ✅, MJCF ✅, USD ✅
UR5e (Universal Robots) → URDF ✅, MJCF ✅, USD ✅
UR10e (Universal Robots) → URDF ✅, MJCF ✅, USD ✅
Gen3 (Kinova) → URDF ✅, MJCF ✅, USD ✅
SO-ARM100 (Siasun) → MJCF ✅, URDF ❌, USD ❌
Koch v1.1 Low-Cost Robot → MJCF ✅, URDF ❌, USD ❌
YAM (I2RT Robotics) → MJCF ✅, URDF ❌, USD ❌
Each model is provided with demo videos for PyBullet (URDF), MuJoCo (MJCF), and Isaac Lab (USD) where available.
⚠️ Note: URDF format is not supported in Isaac Gym;
