Add mjlab's Go1, G1 and Yam task scenes

robots/robot_mj_description/arms/yam_mjlab/LICENSE

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+MIT License
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+Copyright (c) 2025 i2rt robotics
+
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+SOFTWARE.

robots/robot_mj_description/arms/yam_mjlab/LICENSE.mjlab

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+
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robots/robot_mj_description/arms/yam_mjlab/NOTICE.md

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+# yam_mjlab: upstream notices
+
+These assets retain their upstream terms; this notice does not grant or expand permissions.
+
+Source: mjlab's `Mjlab-Lift-Cube-Yam` task scene (https://github.com/mujocolab/mjlab, v1.6), compiled and exported as `lift_cube.xml` with
+only its collision geoms, task sensors, solver options and default pose. mjlab's robot model is adapted from MuJoCo
+Menagerie's `i2rt_yam` (https://github.com/google-deepmind/mujoco_menagerie).
+
+- [LICENSE](LICENSE): MIT, copied from MuJoCo Menagerie's `i2rt_yam` folder.
+- [LICENSE.mjlab](LICENSE.mjlab): Apache-2.0, copied from mjlab.
+
+No meshes are included: the scene uses collision primitives only.

robots/robot_mj_description/arms/yam_mjlab/lift_cube.xml

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+<!-- Exported from mjlab Mjlab-Lift-Cube-Yam: collision geoms, task sensors and solver options only. -->
+<mujoco model="mjlab scene">
+  <compiler angle="radian"/>
+
+  <option timestep="0.005" impratio="10" integrator="implicitfast" cone="elliptic" iterations="10" ls_iterations="20" ccd_iterations="50"/>
+
+  <size nkey="1"/>
+
+  <statistic meansize="0.03"/>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080"/>
+    <quality shadowsize="8192"/>
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5" framewidth="0.3"/>
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1"/>
+  </visual>
+
+  <default>
+    
+    <default class="robot/main">
+      <default class="robot/main_inner">
+        <default class="robot/yam">
+          <site group="5" rgba="0 1 0 1"/>
+          <default class="robot/visual">
+            <geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
+          </default>
+          <default class="robot/collision">
+            <geom type="capsule" group="3"/>
+            <default class="robot/sphere_collision">
+              <geom size="0.0006 0 0" type="sphere" group="4" rgba="1 0 0 1"/>
+            </default>
+          </default>
+          <default class="robot/finger">
+            <joint type="slide"/>
+          </default>
+        </default>
+      </default>
+    </default>
+    <default class="cube/main"/>
+  </default>
+
+  <worldbody>
+    <light name="sun" pos="0 0 1.5" type="directional"/>
+    <body name="terrain">
+      <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
+      <geom name="terrain" size="0 0 0.01" type="plane"/>
+    </body>
+    <body name="robot/mocap_base" pos="0 0 0.01" mocap="true">
+      <inertial pos="0 0 0.01" mass="0" diaginertia="0 0 0"/>
+      <camera name="robot/front_cam" quat="0.590322 0.389256 0.389256 0.590322" pos="1.1 0 0.5"/>
+      <light name="robot/spotlight" target="robot/link_6" pos="0 0 1" mode="targetbodycom"/>
+      <body name="robot/arm" childclass="robot/yam">
+        <inertial pos="0 0 0.026" mass="0.218956" diaginertia="0.000138791 0.000138791 0.000102829"/>
+        <body name="robot/link_1" pos="0 0 0.0631" quat="0.707107 0 0 0.707107">
+          <inertial pos="-0.00192861 -0.00795735 0.0208176" quat="0.297851 0.642634 0.360045 0.607185" mass="0.12415" diaginertia="0.000180751 0.000145532 5.89179e-05"/>
+          <joint name="robot/joint1" range="-2.61799 3.05433" armature="0.032"/>
+          <body name="robot/link_2" pos="2.5e-05 -0.02 0.0409" quat="0.5 0.5 0.5 0.5">
+            <inertial pos="0.132008 2.10599e-06 0.000293073" quat="0.5 0.5 0.5 0.5" mass="1.24434" diaginertia="0.0121902 0.0121318 0.000683304"/>
+            <joint name="robot/joint2" range="0 3.66519" armature="0.032"/>
+            <body name="robot/link_3" pos="0.264 0 0" quat="0 1 0 0">
+              <inertial pos="-0.121816 -0.054846 -0.000111108" quat="0.5 0.5 0.5 0.5" mass="0.853698" diaginertia="0.00699732 0.00696112 0.000788244"/>
+              <joint name="robot/joint3" range="0 3.66519" armature="0.032"/>
+              <body name="robot/link_4" pos="-0.245 -0.06 0">
+                <inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.66661 0.66661 -0.235862 -0.235862" mass="0.463511" diaginertia="0.000791532 0.000744733 0.000282116"/>
+                <joint name="robot/joint4" range="-1.5708 1.5708" armature="0.0018"/>
+                <body name="robot/link_5" pos="-0.074 -0.0395 2.5e-05" quat="0.5 -0.5 0.5 0.5">
+                  <inertial pos="3.64861e-05 0.00025665 0.0353526" mass="0.350962" diaginertia="0.000197802 0.0001775 0.000147402"/>
+                  <joint name="robot/joint5" range="-1.5708 1.5708" armature="0.0018"/>
+                  <body name="robot/link_6" pos="0 0.0353 0.0395" quat="0.707107 -0.707107 0 0">
+                    <inertial pos="-0.000217767 7.37059e-05 0.0270545" quat="0.707107 0.707107 0 0" mass="0.367476" diaginertia="0.000265958 0.000242686 0.000227409"/>
+                    <joint name="robot/joint6" range="-2.0944 2.0944" armature="0.0018"/>
+                    <geom name="robot/link6_1_collision" class="robot/collision" size="0.01 0.035" pos="0 0.039 0.052" quat="0.707107 0 0.707107 0" friction="0.6"/>
+                    <geom name="robot/link6_2_collision" class="robot/collision" size="0.03 0.005" pos="0 0 0.03" quat="0.707107 0 0 0.707107" friction="0.6"/>
+                    <geom name="robot/link6_3_collision" class="robot/collision" size="0.01 0.035" pos="0 -0.039 0.052" quat="0.707107 0 0.707107 0" friction="0.6"/>
+                    <site name="robot/tcp_site" quat="0.707107 0 0 -0.707107"/>
+                    <site name="robot/grasp_site" pos="0 -0.03 0.1247" quat="0.707107 0 0 -0.707107"/>
+                    <body name="robot/link_left_finger" pos="-0.037 0.0392 0.0605" quat="0.707107 0 0.707107 0">
+                      <inertial pos="-0.0192995 -0.0365902 0.039774" quat="0.757517 0.569023 -0.31997 0" mass="0.118" diaginertia="0.000159084 0.000154909 4.63655e-05"/>
+                      <joint name="robot/left_finger" class="robot/finger" range="-0.00205 0.037524" armature="2.60305"/>
+                      <body name="robot/lf_rot" pos="0 -0.0392 0.037" quat="0.5 -0.5 -0.5 0.5">
+                        <inertial pos="-0.00842105 -0.0157895 0.0204211" quat="0.467786 0.526975 0.658698 0.263799" mass="0.0397935" diaginertia="2.39104e-05 2.07302e-05 5.66018e-06"/>
+                        <geom name="robot/lf_rot1_collision" class="robot/collision" size="0.01 0.03" pos="0 -0.02 0.012" quat="0.707107 0 0.707107 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="robot/lf_rot2_collision" class="robot/collision" size="0.01 0.02" pos="-0.02 -0.01 0.032" quat="0.371391 0 0.928477 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                        <body name="robot/lf_down" pos="-0.044 0 0">
+                          <inertial pos="0.00486568 -0.0127863 0.029346" quat="0.627599 -0.0226649 0.177737 0.757638" mass="0.0207757" diaginertia="1.57671e-05 1.30711e-05 3.94367e-06"/>
+                          <geom name="robot/lf_down1_collision" class="robot/collision" size="0.01 0.01" pos="0 -0.02 0.012" quat="0.995037 -0.0995037 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/lf_down2_collision" class="robot/collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/lf_down3_collision" class="robot/collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/lf_down4_collision" class="robot/collision" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" type="box" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/lf_down5_collision" class="robot/collision" size="0.006 0.002 0.039" pos="0.027 -0.0024 0.053" quat="0.371391 0 0.928477 0" type="box" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/lf_down6_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.078" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/lf_down7_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.078" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/lf_down8_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.07" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/lf_down9_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.07" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/lf_down10_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.06" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/lf_down11_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.06" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                        </body>
+                      </body>
+                    </body>
+                    <body name="robot/camera_d405" pos="-0.0107 0.079729 0.066021" quat="0.953717 0.300706 0 0">
+                      <inertial pos="0 0 -0.01" mass="0.02592" diaginertia="3.66336e-06 3.66336e-06 5.59872e-06"/>
+                      <body name="robot/camera_frame" pos="0.009 0 0" quat="0 0 0 1">
+                        <inertial pos="0.009 0 0" quat="0 0 0 1" mass="0" diaginertia="0 0 0"/>
+                        <camera name="robot/camera_d405" quat="0 1 0 0" resolution="1280 720" sensorsize="0.003896 0.00214" focal="0.00193 0.00193"/>
+                      </body>
+                    </body>
+                    <body name="robot/link_right_finger" pos="0.037 -0.0392 0.0605" quat="0.707107 0 0.707107 0">
+                      <inertial pos="-0.0192995 0.0365902 -0.039774" quat="-0.757517 0.569023 -0.31997 0" mass="0.118" diaginertia="0.000159084 0.000154909 4.63655e-05"/>
+                      <joint name="robot/right_finger" class="robot/finger" range="-0.037524 0.00205"/>
+                      <body name="robot/rf_rot" pos="0 0.0392 -0.037" quat="0.5 0.5 -0.5 -0.5">
+                        <inertial pos="0.00842105 -0.0157895 0.0204211" quat="0.658698 0.263799 0.467786 0.526975" mass="0.0397935" diaginertia="2.39104e-05 2.07302e-05 5.66018e-06"/>
+                        <geom name="robot/rf_rot1_collision" class="robot/collision" size="0.01 0.03" pos="0 -0.02 0.012" quat="0.707107 0 0.707107 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="robot/rf_rot2_collision" class="robot/collision" size="0.01 0.02" pos="0.02 -0.01 0.032" quat="0.371391 0 -0.928477 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                        <body name="robot/rf_down" pos="0.044 0 0">
+                          <inertial pos="-0.00486568 -0.0127863 0.029346" quat="0.757638 -0.177737 0.0226649 0.627599" mass="0.0207757" diaginertia="1.57671e-05 1.30711e-05 3.94367e-06"/>
+                          <geom name="robot/rf_down1_collision" class="robot/collision" size="0.01 0.01" pos="0 -0.02 0.012" quat="0.995037 -0.0995037 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/rf_down2_collision" class="robot/collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/rf_down3_collision" class="robot/collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/rf_down4_collision" class="robot/collision" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" type="box" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/rf_down5_collision" class="robot/collision" size="0.006 0.002 0.039" pos="-0.027 -0.0024 0.053" quat="0.371391 0 -0.928477 0" type="box" friction="0.6" rgba="0.381493 0.492734 0.780446 1"/>
+                          <geom name="robot/rf_down6_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.078" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/rf_down7_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.078" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/rf_down8_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.07" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/rf_down9_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.07" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/rf_down10_collision" class="robot/sphere_collision" pos="0.003 -0.0004 0.06" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                          <geom name="robot/rf_down11_collision" class="robot/sphere_collision" pos="-0.003 -0.0004 0.06" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="cube/cube">
+      <inertial pos="0 0 0" mass="0.05" diaginertia="1.33333e-05 1.33333e-05 1.33333e-05"/>
+      <joint name="cube/cube_joint" type="free"/>
+      <geom name="cube/cube_geom" size="0.02 0.02 0.02" type="box" rgba="0.8 0.2 0.2 1" mass="0.05"/>
+    </body>
+  </worldbody>
+
+  <equality>
+    <joint joint1="robot/left_finger" joint2="robot/right_finger" polycoef="0 -1 0 0 0"/>
+  </equality>
+
+  <actuator>
+    <general name="robot/joint1" joint="robot/joint1" ctrlrange="-4.05776 4.4941" ctrllimited="false" forcelimited="true" forcerange="-28 28" biastype="affine" gainprm="19.4475" biasprm="0 -19.4475 -6.19034"/>
+    <general name="robot/joint2" joint="robot/joint2" ctrlrange="-0.639167 4.30436" ctrllimited="false" forcelimited="true" forcerange="-28 28" biastype="affine" gainprm="43.807" biasprm="0 -43.807 -13.9442"/>
+    <general name="robot/joint3" joint="robot/joint3" ctrlrange="-0.761771 4.42696" ctrllimited="false" forcelimited="true" forcerange="-28 28" biastype="affine" gainprm="36.7565" biasprm="0 -36.7565 -11.6999"/>
+    <general name="robot/joint4" joint="robot/joint4" ctrlrange="-3.67088 3.67088" ctrllimited="false" forcelimited="true" forcerange="-10 10" biastype="affine" gainprm="4.76173" biasprm="0 -4.76173 -1.51571"/>
+    <general name="robot/joint5" joint="robot/joint5" ctrlrange="-8.50985 8.50985" ctrllimited="false" forcelimited="true" forcerange="-10 10" biastype="affine" gainprm="1.44112" biasprm="0 -1.44112 -0.458723"/>
+    <general name="robot/joint6" joint="robot/joint6" ctrlrange="-24.1745 24.1745" ctrllimited="false" forcelimited="true" forcerange="-10 10" biastype="affine" gainprm="0.452896" biasprm="0 -0.452896 -0.144161"/>
+    <general name="robot/left_finger" joint="robot/left_finger" ctrlrange="-0.348346 0.38382" ctrllimited="false" forcelimited="true" forcerange="-38.0282 38.0282" biastype="affine" gainprm="109.814" biasprm="0 -109.814 -69.9098"/>
+  </actuator>
+
+  <sensor>
+    <contact subtree1="robot/link_6" body2="terrain" name="ee_ground_collision_link_6_found"/>
+    <contact subtree1="robot/link_6" body2="terrain" data="force" name="ee_ground_collision_link_6_force"/>
+  </sensor>
+
+  <keyframe>
+    <key name="init_state" qpos="0 1.047 1.05 -0.9 0 0 0.01875 -0.01875 0 0 0 1 0 0 0" ctrl="0 1.047 1.05 -0.9 0 0 0.01875"/>
+  </keyframe>
+</mujoco>

robots/robot_mj_description/humanoids/g1_mjlab/LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

robots/robot_mj_description/humanoids/g1_mjlab/LICENSE.mjlab

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
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+      "License" shall mean the terms and conditions for use, reproduction,
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
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+   4. Redistribution. You may reproduce and distribute copies of the
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+      (a) You must give any other recipients of the Work or
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+
+      (b) You must cause any modified files to carry prominent notices
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+      (d) If the Work includes a "NOTICE" text file as part of its
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+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
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+      You may add Your own copyright statement to Your modifications and
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+      for any such Derivative Works as a whole, provided Your use,
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+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
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+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      whether in tort (including negligence), contract, or otherwise,
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+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
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+      on Your own behalf and on Your sole responsibility, not on behalf
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+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+   Copyright 2025, The mjlab Developers
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
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+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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robots/robot_mj_description/humanoids/g1_mjlab/NOTICE.md

@@ -0,0 +1,12 @@
+# g1_mjlab: upstream notices
+
+These assets retain their upstream terms; this notice does not grant or expand permissions.
+
+Source: mjlab's `Mjlab-Velocity-Flat-Unitree-G1` task scene (https://github.com/mujocolab/mjlab, v1.6), compiled and exported as `velocity_flat.xml` with
+only its collision geoms, task sensors, solver options and default pose. mjlab's robot model is adapted from MuJoCo
+Menagerie's `unitree_g1` (https://github.com/google-deepmind/mujoco_menagerie).
+
+- [LICENSE](LICENSE): BSD-3-Clause, copied from MuJoCo Menagerie's `unitree_g1` folder.
+- [LICENSE.mjlab](LICENSE.mjlab): Apache-2.0, copied from mjlab.
+
+No meshes are included: the scene uses collision primitives only.

robots/robot_mj_description/humanoids/g1_mjlab/velocity_flat.xml

@@ -0,0 +1,258 @@
+<!-- Exported from mjlab Mjlab-Velocity-Flat-Unitree-G1: collision geoms, task sensors and solver options only. -->
+<mujoco model="mjlab scene">
+  <compiler angle="radian"/>
+
+  <option timestep="0.005" integrator="implicitfast" iterations="10" ls_iterations="20" ccd_iterations="50"/>
+
+  <size nkey="1"/>
+
+  <statistic meansize="0.03" extent="2"/>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080"/>
+    <quality shadowsize="8192"/>
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5" framewidth="0.3"/>
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1"/>
+  </visual>
+
+  <default>
+    
+    <default class="robot/main">
+      <default class="robot/g1">
+        <site group="5" rgba="1 0 0 1"/>
+        <default class="robot/visual">
+          <geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
+        </default>
+        <default class="robot/collision">
+          <geom type="capsule" group="3" rgba="0.2 0.6 0.2 0.3"/>
+          <default class="robot/foot_capsule">
+            <geom size="0.01 0 0"/>
+          </default>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <light name="sun" pos="0 0 1.5" type="directional"/>
+    <body name="terrain">
+      <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
+      <geom name="terrain" size="0 0 0.01" type="plane"/>
+    </body>
+    <body name="robot/pelvis" childclass="robot/g1" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <joint name="robot/floating_base_joint" type="free"/>
+      <geom name="robot/pelvis_collision" class="robot/collision" size="0.07" pos="0 0 -0.08" type="sphere" condim="1"/>
+      <site name="robot/imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <camera name="robot/tracking" quat="0.683353 0.555871 0.298684 0.367183" pos="1.734 -1.135 0.35" mode="trackcom"/>
+      <light castshadow="false" pos="0 0 2" mode="trackcom"/>
+      <body name="robot/left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="robot/left_hip_pitch_joint" range="-2.5307 2.8798" armature="0.0101775" axis="0 1 0"/>
+        <body name="robot/left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="robot/left_hip_roll_joint" range="-0.5236 2.9671" armature="0.0251019" axis="1 0 0"/>
+          <geom name="robot/left_hip_collision" class="robot/collision" size="0.06 0.04" pos="0.02 0 -0.04" condim="1"/>
+          <body name="robot/left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="robot/left_hip_yaw_joint" range="-2.7576 2.7576" armature="0.0101775"/>
+            <geom name="robot/left_thigh_collision" class="robot/collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" condim="1"/>
+            <body name="robot/left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="robot/left_knee_joint" range="-0.087267 2.8798" armature="0.0251019" axis="0 1 0"/>
+              <geom name="robot/left_shin_collision" class="robot/collision" size="0.045 0.075" pos="0.01 0 -0.075" condim="1"/>
+              <geom name="robot/left_linkage_brace_collision" class="robot/collision" size="0.03 0.04" pos="0.01 0 -0.24" condim="1"/>
+              <body name="robot/left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="robot/left_ankle_pitch_joint" range="-0.87267 0.5236" armature="0.00721945" axis="0 1 0"/>
+                <body name="robot/left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="robot/left_ankle_roll_joint" range="-0.2618 0.2618" armature="0.00721945" axis="1 0 0"/>
+                  <geom name="robot/left_foot1_collision" class="robot/foot_capsule" size="0.01 0.025005" pos="0.075 -0.0265 -0.025" quat="0.707107 -0.0141393 0.706965 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot2_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot3_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot4_collision" class="robot/foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot5_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot6_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/left_foot7_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1" friction="0.6"/>
+                  <site name="robot/left_foot" pos="0.04 0 -0.037"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="robot/right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="robot/right_hip_pitch_joint" range="-2.5307 2.8798" armature="0.0101775" axis="0 1 0"/>
+        <body name="robot/right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="robot/right_hip_roll_joint" range="-2.9671 0.5236" armature="0.0251019" axis="1 0 0"/>
+          <geom name="robot/right_hip_collision" class="robot/collision" size="0.06 0.04" pos="0.02 0 -0.04" condim="1"/>
+          <body name="robot/right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="robot/right_hip_yaw_joint" range="-2.7576 2.7576" armature="0.0101775"/>
+            <geom name="robot/right_thigh_collision" class="robot/collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" condim="1"/>
+            <body name="robot/right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="robot/right_knee_joint" range="-0.087267 2.8798" armature="0.0251019" axis="0 1 0"/>
+              <geom name="robot/right_shin_collision" class="robot/collision" size="0.045 0.075" pos="0.01 0 -0.075" condim="1"/>
+              <geom name="robot/right_linkage_brace_collision" class="robot/collision" size="0.03 0.04" pos="0.01 0 -0.24" condim="1"/>
+              <body name="robot/right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="robot/right_ankle_pitch_joint" range="-0.87267 0.5236" armature="0.00721945" axis="0 1 0"/>
+                <body name="robot/right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="robot/right_ankle_roll_joint" range="-0.2618 0.2618" armature="0.00721945" axis="1 0 0"/>
+                  <geom name="robot/right_foot1_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot2_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot3_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot4_collision" class="robot/foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot5_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot6_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1" friction="0.6"/>
+                  <geom name="robot/right_foot7_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1" friction="0.6"/>
+                  <site name="robot/right_foot" pos="0.04 0 -0.037"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="robot/waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="robot/waist_yaw_joint" range="-2.618 2.618" armature="0.0101775"/>
+        <body name="robot/waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="robot/waist_roll_joint" range="-0.52 0.52" armature="0.00721945" axis="1 0 0"/>
+          <body name="robot/torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="robot/waist_pitch_joint" range="-0.52 0.52" armature="0.00721945" axis="0 1 0"/>
+            <geom name="robot/torso_collision" class="robot/collision" size="0.09 0.06" pos="0.01 0 0.14" quat="0 1 0 0" condim="1"/>
+            <geom name="robot/head_collision" class="robot/collision" size="0.06" pos="0 0 0.43" type="sphere" condim="1"/>
+            <site name="robot/imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="robot/left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="robot/left_shoulder_pitch_joint" range="-3.0892 2.6704" armature="0.00360972" axis="0 1 0"/>
+              <body name="robot/left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="robot/left_shoulder_roll_joint" range="-1.5882 2.2515" armature="0.00360972" axis="1 0 0"/>
+                <body name="robot/left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="robot/left_shoulder_yaw_joint" range="-2.618 2.618" armature="0.00360972"/>
+                  <geom name="robot/left_shoulder_yaw_collision" class="robot/collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1"/>
+                  <body name="robot/left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="robot/left_elbow_joint" range="-1.0472 2.0944" armature="0.00360972" axis="0 1 0"/>
+                    <geom name="robot/left_elbow_yaw_collision" class="robot/collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" condim="1"/>
+                    <body name="robot/left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="robot/left_wrist_roll_joint" range="-1.97222 1.97222" armature="0.00360972" axis="1 0 0"/>
+                      <body name="robot/left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="robot/left_wrist_pitch_joint" range="-1.61443 1.61443" armature="0.00425" axis="0 1 0"/>
+                        <geom name="robot/left_wrist_collision" class="robot/collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" condim="1"/>
+                        <body name="robot/left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="robot/left_wrist_yaw_joint" range="-1.61443 1.61443" armature="0.00425"/>
+                          <geom name="robot/left_hand_collision" class="robot/collision" size="0.035 0.0412311" pos="0.11 -0.01 0" quat="0.707107 -0.171499 -0.685994 0" condim="1"/>
+                          <site name="robot/left_palm" size="0.01" pos="0.08 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="robot/right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="robot/right_shoulder_pitch_joint" range="-3.0892 2.6704" armature="0.00360972" axis="0 1 0"/>
+              <body name="robot/right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="robot/right_shoulder_roll_joint" range="-2.2515 1.5882" armature="0.00360972" axis="1 0 0"/>
+                <body name="robot/right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="robot/right_shoulder_yaw_joint" range="-2.618 2.618" armature="0.00360972"/>
+                  <geom name="robot/right_shoulder_yaw_collision" class="robot/collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1"/>
+                  <body name="robot/right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="robot/right_elbow_joint" range="-1.0472 2.0944" armature="0.00360972" axis="0 1 0"/>
+                    <geom name="robot/right_elbow_yaw_collision" class="robot/collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" condim="1"/>
+                    <body name="robot/right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="robot/right_wrist_roll_joint" range="-1.97222 1.97222" armature="0.00360972" axis="1 0 0"/>
+                      <body name="robot/right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="robot/right_wrist_pitch_joint" range="-1.61443 1.61443" armature="0.00425" axis="0 1 0"/>
+                        <geom name="robot/right_wrist_collision" class="robot/collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" condim="1"/>
+                        <body name="robot/right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="robot/right_wrist_yaw_joint" range="-1.61443 1.61443" armature="0.00425"/>
+                          <geom name="robot/right_hand_collision" class="robot/collision" size="0.035 0.0412311" pos="0.11 0.01 0" quat="0.707107 0.171499 -0.685994 0" condim="1"/>
+                          <site name="robot/right_palm" size="0.01" pos="0.08 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="robot/left_elbow_link" body2="robot/left_wrist_pitch_link"/>
+    <exclude body1="robot/right_elbow_link" body2="robot/right_wrist_pitch_link"/>
+    <exclude body1="robot/pelvis" body2="robot/right_hip_roll_link"/>
+    <exclude body1="robot/pelvis" body2="robot/left_hip_roll_link"/>
+  </contact>
+
+  <actuator>
+    <general name="robot/left_shoulder_pitch_joint" joint="robot/left_shoulder_pitch_joint" ctrlrange="-4.84351 4.42471" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/left_shoulder_roll_joint" joint="robot/left_shoulder_roll_joint" ctrlrange="-3.34251 4.00581" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/left_shoulder_yaw_joint" joint="robot/left_shoulder_yaw_joint" ctrlrange="-4.37231 4.37231" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/left_elbow_joint" joint="robot/left_elbow_joint" ctrlrange="-2.80151 3.84871" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/left_wrist_roll_joint" joint="robot/left_wrist_roll_joint" ctrlrange="-3.72653 3.72653" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/right_shoulder_pitch_joint" joint="robot/right_shoulder_pitch_joint" ctrlrange="-4.84351 4.42471" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/right_shoulder_roll_joint" joint="robot/right_shoulder_roll_joint" ctrlrange="-4.00581 3.34251" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/right_shoulder_yaw_joint" joint="robot/right_shoulder_yaw_joint" ctrlrange="-4.37231 4.37231" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/right_elbow_joint" joint="robot/right_elbow_joint" ctrlrange="-2.80151 3.84871" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/right_wrist_roll_joint" joint="robot/right_wrist_roll_joint" ctrlrange="-3.72653 3.72653" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
+    <general name="robot/left_hip_pitch_joint" joint="robot/left_hip_pitch_joint" ctrlrange="-4.72089 5.06999" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
+    <general name="robot/left_hip_yaw_joint" joint="robot/left_hip_yaw_joint" ctrlrange="-4.94779 4.94779" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
+    <general name="robot/right_hip_pitch_joint" joint="robot/right_hip_pitch_joint" ctrlrange="-4.72089 5.06999" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
+    <general name="robot/right_hip_yaw_joint" joint="robot/right_hip_yaw_joint" ctrlrange="-4.94779 4.94779" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
+    <general name="robot/waist_yaw_joint" joint="robot/waist_yaw_joint" ctrlrange="-4.80819 4.80819" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
+    <general name="robot/left_hip_roll_joint" joint="robot/left_hip_roll_joint" ctrlrange="-1.92625 4.36975" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
+    <general name="robot/left_knee_joint" joint="robot/left_knee_joint" ctrlrange="-1.48991 4.28245" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
+    <general name="robot/right_hip_roll_joint" joint="robot/right_hip_roll_joint" ctrlrange="-4.36975 1.92625" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
+    <general name="robot/right_knee_joint" joint="robot/right_knee_joint" ctrlrange="-1.48991 4.28245" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
+    <general name="robot/left_wrist_pitch_joint" joint="robot/left_wrist_pitch_joint" ctrlrange="-1.91243 1.91243" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="16.7783" biasprm="0 -16.7783 -1.06814"/>
+    <general name="robot/left_wrist_yaw_joint" joint="robot/left_wrist_yaw_joint" ctrlrange="-1.91243 1.91243" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="16.7783" biasprm="0 -16.7783 -1.06814"/>
+    <general name="robot/right_wrist_pitch_joint" joint="robot/right_wrist_pitch_joint" ctrlrange="-1.91243 1.91243" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="16.7783" biasprm="0 -16.7783 -1.06814"/>
+    <general name="robot/right_wrist_yaw_joint" joint="robot/right_wrist_yaw_joint" ctrlrange="-1.91243 1.91243" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="16.7783" biasprm="0 -16.7783 -1.06814"/>
+    <general name="robot/waist_roll_joint" joint="robot/waist_roll_joint" ctrlrange="-2.27431 2.27431" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+    <general name="robot/waist_pitch_joint" joint="robot/waist_pitch_joint" ctrlrange="-2.27431 2.27431" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+    <general name="robot/left_ankle_pitch_joint" joint="robot/left_ankle_pitch_joint" ctrlrange="-2.62698 2.27791" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+    <general name="robot/left_ankle_roll_joint" joint="robot/left_ankle_roll_joint" ctrlrange="-2.01611 2.01611" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+    <general name="robot/right_ankle_pitch_joint" joint="robot/right_ankle_pitch_joint" ctrlrange="-2.62698 2.27791" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+    <general name="robot/right_ankle_roll_joint" joint="robot/right_ankle_roll_joint" ctrlrange="-2.01611 2.01611" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
+  </actuator>
+
+  <sensor>
+    <subtreeangmom body="robot/pelvis" name="robot/root_angmom"/>
+    <contact subtree1="robot/left_ankle_roll_link" body2="terrain" reduce="netforce" name="feet_ground_contact_left_ankle_roll_link_found"/>
+    <contact subtree1="robot/left_ankle_roll_link" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_left_ankle_roll_link_force"/>
+    <contact subtree1="robot/right_ankle_roll_link" body2="terrain" reduce="netforce" name="feet_ground_contact_right_ankle_roll_link_found"/>
+    <contact subtree1="robot/right_ankle_roll_link" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_right_ankle_roll_link_force"/>
+    <contact subtree1="robot/pelvis" subtree2="robot/pelvis" name="self_collision_pelvis_found"/>
+    <contact subtree1="robot/pelvis" subtree2="robot/pelvis" data="force" name="self_collision_pelvis_force"/>
+  </sensor>
+
+  <keyframe>
+    <key name="init_state" qpos="0 0 0.76 1 0 0 0 -0.312 0 0 0.669 -0.363 0 -0.312 0 0 0.669 -0.363 0 0 0 0 0.2 0.2 0 0.6 0 0 0 0.2 -0.2 0 0.6 0 0 0" ctrl="0.2 0.2 0 0.6 0 0.2 -0.2 0 0.6 0 -0.312 0 -0.312 0 0 0 0.669 0 0.669 0 0 0 0 0 0 -0.363 0 -0.363 0"/>
+  </keyframe>
+</mujoco>

robots/robot_mj_description/quadrupeds/go1_mjlab/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

robots/robot_mj_description/quadrupeds/go1_mjlab/LICENSE.mjlab

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
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+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
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+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
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+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+
+   9. Accepting Warranty or Additional Liability. While redistributing
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+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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robots/robot_mj_description/quadrupeds/go1_mjlab/NOTICE.md

@@ -0,0 +1,12 @@
+# go1_mjlab: upstream notices
+
+These assets retain their upstream terms; this notice does not grant or expand permissions.
+
+Source: mjlab's `Mjlab-Velocity-Flat-Unitree-Go1` task scene (https://github.com/mujocolab/mjlab, v1.6), compiled and exported as `velocity_flat.xml` with
+only its collision geoms, task sensors, solver options and default pose. mjlab's robot model is adapted from MuJoCo
+Menagerie's `unitree_go1` (https://github.com/google-deepmind/mujoco_menagerie).
+
+- [LICENSE](LICENSE): BSD-3-Clause, copied from MuJoCo Menagerie's `unitree_go1` folder.
+- [LICENSE.mjlab](LICENSE.mjlab): Apache-2.0, copied from mjlab.
+
+No meshes are included: the scene uses collision primitives only.

robots/robot_mj_description/quadrupeds/go1_mjlab/velocity_flat.xml

@@ -0,0 +1,181 @@
+<!-- Exported from mjlab Mjlab-Velocity-Flat-Unitree-Go1: collision geoms, task sensors and solver options only. -->
+<mujoco model="mjlab scene">
+  <compiler angle="radian"/>
+
+  <option timestep="0.005" impratio="10" integrator="implicitfast" cone="elliptic" iterations="10" ls_iterations="20" ccd_iterations="50"/>
+
+  <size nkey="1"/>
+
+  <statistic meansize="0.03" extent="2"/>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080"/>
+    <quality shadowsize="8192"/>
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5" framewidth="0.3"/>
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1"/>
+  </visual>
+
+  <default>
+    
+    <default class="robot/main">
+      <default class="robot/go1">
+        <default class="robot/visual">
+          <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+        </default>
+        <default class="robot/collision">
+          <geom type="capsule" group="3"/>
+          <default class="robot/thigh1">
+            <geom size="0.015 0 0"/>
+          </default>
+          <default class="robot/thigh2">
+            <geom size="0.015 0 0"/>
+          </default>
+          <default class="robot/thigh3">
+            <geom size="0.015 0 0"/>
+          </default>
+          <default class="robot/calf1">
+            <geom size="0.01 0 0"/>
+          </default>
+          <default class="robot/calf2">
+            <geom size="0.01 0 0"/>
+          </default>
+          <default class="robot/foot">
+            <geom size="0.023 0 0" type="sphere"/>
+          </default>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <light name="sun" pos="0 0 1.5" type="directional"/>
+    <body name="terrain">
+      <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
+      <geom name="terrain" size="0 0 0.01" type="plane"/>
+    </body>
+    <body name="robot/trunk" childclass="robot/go1" pos="0 0 0.445">
+      <inertial pos="0.0223 0.002 -0.0005" quat="-0.00342088 0.705204 0.000106698 0.708996" mass="5.204" diaginertia="0.0716565 0.0630105 0.0168101"/>
+      <joint name="robot/floating_base_joint" type="free"/>
+      <geom name="robot/trunk_collision" class="robot/collision" size="0.13 0.09 0.05" type="box" condim="1" solref="0.01"/>
+      <geom name="robot/head_collision" class="robot/collision" size="0.06" pos="0.24 0 0" type="sphere" condim="1" solref="0.01"/>
+      <site name="robot/head" size="0.02" pos="0.3 0 0" group="5" rgba="1 0 0 1"/>
+      <site name="robot/imu" pos="-0.01592 -0.06659 -0.00617" group="5"/>
+      <camera name="robot/tracking" quat="0.791164 0.554139 0.148485 0.211997" pos="0.846 -1.3 0.316" mode="trackcom"/>
+      <camera name="robot/top" quat="0.653281 0.270598 -0.270598 -0.653281" pos="-1 0 1" mode="trackcom"/>
+      <camera name="robot/side" quat="0.850651 0.525731 0 0" pos="0 -1 0.3" mode="trackcom"/>
+      <camera name="robot/back" quat="0.601501 0.371748 -0.371748 -0.601501" pos="-1 0 0.3" mode="trackcom"/>
+      <light pos="0 0 2" mode="trackcom"/>
+      <body name="robot/FR_hip" pos="0.1881 -0.04675 0">
+        <inertial pos="-0.0049166 0.00762615 -8.865e-05" quat="0.507341 0.514169 0.495027 0.482891" mass="0.68" diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint name="robot/FR_hip_joint" range="-0.863 0.863" armature="0.00402631" axis="1 0 0"/>
+        <geom name="robot/FR_hip_collision" class="robot/collision" size="0.05 0.01" pos="0 -0.03 0" quat="0.707107 -0.707107 0 0" condim="1" solref="0.01"/>
+        <body name="robot/FR_thigh" pos="0 -0.08 0">
+          <inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009" diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint name="robot/FR_thigh_joint" range="-0.686 4.501" armature="0.00402631" axis="0 1 0"/>
+          <geom name="robot/FR_thigh_collision1" class="robot/thigh1" size="0.015 0.08" pos="-0.02 0 -0.08" condim="1" solref="0.01"/>
+          <geom name="robot/FR_thigh_collision2" class="robot/thigh2" size="0.015 0.0509902" pos="-0.01 0 -0.05" quat="0.995133 0 0.0985376 0" condim="1" solref="0.01"/>
+          <geom name="robot/FR_thigh_collision3" class="robot/thigh3" size="0.015 0.0223607" pos="-0.01 0 -0.18" quat="0.973249 0 -0.229753 0" condim="1" solref="0.01"/>
+          <body name="robot/FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592" mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint name="robot/FR_calf_joint" range="-2.818 -0.888" armature="0.0090592" axis="0 1 0"/>
+            <geom name="robot/FR_calf_collision1" class="robot/calf1" size="0.01 0.0657647" pos="0.01 0 -0.065" quat="0.997089 0 -0.0762506 0" condim="1" solref="0.01"/>
+            <geom name="robot/FR_calf_collision2" class="robot/calf2" size="0.01 0.0364005" pos="0.01 0 -0.165" quat="0.990334 0 0.138701 0" condim="1" solref="0.01"/>
+            <geom name="robot/FR_foot_collision" class="robot/foot" pos="0 0 -0.213" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+            <site name="robot/FR" size="0.023" pos="0 0 -0.213" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="robot/FL_hip" pos="0.1881 0.04675 0">
+        <inertial pos="-0.0049166 -0.00762615 -8.865e-05" quat="0.482891 0.495027 0.514169 0.507341" mass="0.68" diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint name="robot/FL_hip_joint" range="-0.863 0.863" armature="0.00402631" axis="1 0 0"/>
+        <geom name="robot/FL_hip_collision" class="robot/collision" size="0.05 0.01" pos="0 0.03 0" quat="0.707107 0.707107 0 0" condim="1" solref="0.01"/>
+        <body name="robot/FL_thigh" pos="0 0.08 0">
+          <inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009" diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint name="robot/FL_thigh_joint" range="-0.686 4.501" armature="0.00402631" axis="0 1 0"/>
+          <geom name="robot/FL_thigh_collision1" class="robot/thigh1" size="0.015 0.08" pos="-0.02 0 -0.08" condim="1" solref="0.01"/>
+          <geom name="robot/FL_thigh_collision2" class="robot/thigh2" size="0.015 0.0509902" pos="-0.01 0 -0.05" quat="0.995133 0 0.0985376 0" condim="1" solref="0.01"/>
+          <geom name="robot/FL_thigh_collision3" class="robot/thigh3" size="0.015 0.0223607" pos="-0.01 0 -0.18" quat="0.973249 0 -0.229753 0" condim="1" solref="0.01"/>
+          <body name="robot/FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592" mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint name="robot/FL_calf_joint" range="-2.818 -0.888" armature="0.0090592" axis="0 1 0"/>
+            <geom name="robot/FL_calf_collision1" class="robot/calf1" size="0.01 0.0657647" pos="0.01 0 -0.065" quat="0.997089 0 -0.0762506 0" condim="1" solref="0.01"/>
+            <geom name="robot/FL_calf_collision2" class="robot/calf2" size="0.01 0.0364005" pos="0.01 0 -0.165" quat="0.990334 0 0.138701 0" condim="1" solref="0.01"/>
+            <geom name="robot/FL_foot_collision" class="robot/foot" pos="0 0 -0.213" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+            <site name="robot/FL" size="0.023" pos="0 0 -0.213" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="robot/RR_hip" pos="-0.1881 -0.04675 0">
+        <inertial pos="0.0049166 0.00762615 -8.865e-05" quat="0.495027 0.482891 0.507341 0.514169" mass="0.68" diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint name="robot/RR_hip_joint" range="-0.863 0.863" armature="0.00402631" axis="1 0 0"/>
+        <geom name="robot/RR_hip_collision" class="robot/collision" size="0.05 0.01" pos="0 -0.03 0" quat="0.707107 -0.707107 0 0" condim="1" solref="0.01"/>
+        <body name="robot/RR_thigh" pos="0 -0.08 0">
+          <inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009" diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint name="robot/RR_thigh_joint" range="-0.686 4.501" armature="0.00402631" axis="0 1 0"/>
+          <geom name="robot/RR_thigh_collision1" class="robot/thigh1" size="0.015 0.08" pos="-0.02 0 -0.08" condim="1" solref="0.01"/>
+          <geom name="robot/RR_thigh_collision2" class="robot/thigh2" size="0.015 0.0509902" pos="-0.01 0 -0.05" quat="0.995133 0 0.0985376 0" condim="1" solref="0.01"/>
+          <geom name="robot/RR_thigh_collision3" class="robot/thigh3" size="0.015 0.0223607" pos="-0.01 0 -0.18" quat="0.973249 0 -0.229753 0" condim="1" solref="0.01"/>
+          <body name="robot/RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592" mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint name="robot/RR_calf_joint" range="-2.818 -0.888" armature="0.0090592" axis="0 1 0"/>
+            <geom name="robot/RR_calf_collision1" class="robot/calf1" size="0.01 0.0657647" pos="0.01 0 -0.065" quat="0.997089 0 -0.0762506 0" condim="1" solref="0.01"/>
+            <geom name="robot/RR_calf_collision2" class="robot/calf2" size="0.01 0.0364005" pos="0.01 0 -0.165" quat="0.990334 0 0.138701 0" condim="1" solref="0.01"/>
+            <geom name="robot/RR_foot_collision" class="robot/foot" pos="0 0 -0.213" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+            <site name="robot/RR" size="0.023" pos="0 0 -0.213" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="robot/RL_hip" pos="-0.1881 0.04675 0">
+        <inertial pos="0.0049166 -0.00762615 -8.865e-05" quat="0.514169 0.507341 0.482891 0.495027" mass="0.68" diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint name="robot/RL_hip_joint" range="-0.863 0.863" armature="0.00402631" axis="1 0 0"/>
+        <geom name="robot/RL_hip_collision" class="robot/collision" size="0.05 0.01" pos="0 0.03 0" quat="0.707107 0.707107 0 0" condim="1" solref="0.01"/>
+        <body name="robot/RL_thigh" pos="0 0.08 0">
+          <inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009" diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint name="robot/RL_thigh_joint" range="-0.686 4.501" armature="0.00402631" axis="0 1 0"/>
+          <geom name="robot/RL_thigh_collision1" class="robot/thigh1" size="0.015 0.08" pos="-0.02 0 -0.08" condim="1" solref="0.01"/>
+          <geom name="robot/RL_thigh_collision2" class="robot/thigh2" size="0.015 0.0509902" pos="-0.01 0 -0.05" quat="0.995133 0 0.0985376 0" condim="1" solref="0.01"/>
+          <geom name="robot/RL_thigh_collision3" class="robot/thigh3" size="0.015 0.0223607" pos="-0.01 0 -0.18" quat="0.973249 0 -0.229753 0" condim="1" solref="0.01"/>
+          <body name="robot/RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592" mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint name="robot/RL_calf_joint" range="-2.818 -0.888" armature="0.0090592" axis="0 1 0"/>
+            <geom name="robot/RL_calf_collision1" class="robot/calf1" size="0.01 0.0657647" pos="0.01 0 -0.065" quat="0.997089 0 -0.0762506 0" condim="1" solref="0.01"/>
+            <geom name="robot/RL_calf_collision2" class="robot/calf2" size="0.01 0.0364005" pos="0.01 0 -0.165" quat="0.990334 0 0.138701 0" condim="1" solref="0.01"/>
+            <geom name="robot/RL_foot_collision" class="robot/foot" pos="0 0 -0.213" condim="6" priority="1" friction="1 0.005 0.0005" solref="0.01"/>
+            <site name="robot/RL" size="0.023" pos="0 0 -0.213" group="5"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <general name="robot/FR_hip_joint" joint="robot/FR_hip_joint" ctrlrange="-2.35401 2.35401" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/FR_thigh_joint" joint="robot/FR_thigh_joint" ctrlrange="-2.17701 5.99201" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/FL_hip_joint" joint="robot/FL_hip_joint" ctrlrange="-2.35401 2.35401" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/FL_thigh_joint" joint="robot/FL_thigh_joint" ctrlrange="-2.17701 5.99201" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/RR_hip_joint" joint="robot/RR_hip_joint" ctrlrange="-2.35401 2.35401" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/RR_thigh_joint" joint="robot/RR_thigh_joint" ctrlrange="-2.17701 5.99201" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/RL_hip_joint" joint="robot/RL_hip_joint" ctrlrange="-2.35401 2.35401" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/RL_thigh_joint" joint="robot/RL_thigh_joint" ctrlrange="-2.17701 5.99201" ctrllimited="false" forcelimited="true" forcerange="-23.7 23.7" biastype="affine" gainprm="15.8952" biasprm="0 -15.8952 -1.01192"/>
+    <general name="robot/FR_calf_joint" joint="robot/FR_calf_joint" ctrlrange="-3.81201 0.106008" ctrllimited="false" forcelimited="true" forcerange="-35.55 35.55" biastype="affine" gainprm="35.7643" biasprm="0 -35.7643 -2.27683"/>
+    <general name="robot/FL_calf_joint" joint="robot/FL_calf_joint" ctrlrange="-3.81201 0.106008" ctrllimited="false" forcelimited="true" forcerange="-35.55 35.55" biastype="affine" gainprm="35.7643" biasprm="0 -35.7643 -2.27683"/>
+    <general name="robot/RR_calf_joint" joint="robot/RR_calf_joint" ctrlrange="-3.81201 0.106008" ctrllimited="false" forcelimited="true" forcerange="-35.55 35.55" biastype="affine" gainprm="35.7643" biasprm="0 -35.7643 -2.27683"/>
+    <general name="robot/RL_calf_joint" joint="robot/RL_calf_joint" ctrlrange="-3.81201 0.106008" ctrllimited="false" forcelimited="true" forcerange="-35.55 35.55" biastype="affine" gainprm="35.7643" biasprm="0 -35.7643 -2.27683"/>
+  </actuator>
+
+  <sensor>
+    <contact geom1="robot/FR_foot_collision" body2="terrain" reduce="netforce" name="feet_ground_contact_FR_foot_collision_found"/>
+    <contact geom1="robot/FR_foot_collision" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_FR_foot_collision_force"/>
+    <contact geom1="robot/FL_foot_collision" body2="terrain" reduce="netforce" name="feet_ground_contact_FL_foot_collision_found"/>
+    <contact geom1="robot/FL_foot_collision" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_FL_foot_collision_force"/>
+    <contact geom1="robot/RR_foot_collision" body2="terrain" reduce="netforce" name="feet_ground_contact_RR_foot_collision_found"/>
+    <contact geom1="robot/RR_foot_collision" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_RR_foot_collision_force"/>
+    <contact geom1="robot/RL_foot_collision" body2="terrain" reduce="netforce" name="feet_ground_contact_RL_foot_collision_found"/>
+    <contact geom1="robot/RL_foot_collision" body2="terrain" data="force" reduce="netforce" name="feet_ground_contact_RL_foot_collision_force"/>
+  </sensor>
+
+  <keyframe>
+    <key name="init_state" qpos="0 0 0.278 1 0 0 0 0.1 0.9 -1.8 -0.1 0.9 -1.8 0.1 0.9 -1.8 -0.1 0.9 -1.8" ctrl="0.1 0.9 -0.1 0.9 0.1 0.9 -0.1 0.9 -1.8 -1.8 -1.8 -1.8"/>
+  </keyframe>
+</mujoco>