update ARX L5

Author: jonzamora

README.md

@@ -172,6 +172,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| ARX L5 | ARX Robotics | 7 | [MIT](agilex_piper/LICENSE) |✖️|
 | PiPER | AgileX | 7 | [MIT](agilex_piper/LICENSE) |✖️|
 | FR3 | Franka Robotics | 7 | [Apache-2.0](franka_fr3/LICENSE) |✖️|
 | iiwa14 | KUKA | 7 | [BSD-3-Clause](kuka_iiwa_14/LICENSE) |✖️|

arx_l5/LICENSE

@@ -1,21 +1,28 @@
-MIT License
+BSD 3-Clause License
 
-Copyright (c) 2025 ARXrobotics
+Copyright (c) 2023-2025, ARXrobotics
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
 
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
 
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+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.

arx_l5/README.md

@@ -1,10 +1,10 @@
 ## ARX L5 Description (MJCF)
 
-> Requires MuJoCo 2.3.4 or later.
+> Requires MuJoCo 3.1.3 or later.
 
 ### Overview
 
-This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from the publicly available [model](https://github.com/ARXroboticsX/ARX_Model/tree/master/X5/X5A/urdf).
+This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from [ARX's official model repository](https://github.com/ARXroboticsX/ARX_Model). The initial URDF can be found at the following [commit SHA](https://github.com/ARXroboticsX/ARX_Model/tree/af6fe43c873008a85bce6195c0f2160f1a1c14ce/X5/X5A).
 
 <p float="left">
   <img src="arx_l5.png" width="400">
@@ -16,18 +16,18 @@ This package contains a simplified robot description (MJCF) of the [ARX L5](http
     `<robot>` clause in order to preserve visual geometries.
 2.  Loaded the URDF into MuJoCo and saved a corresponding MJCF.
 3.  Converted the .stls to .objs and replaced the original .stls with them (since each .obj in MuJoCo can have 1 color).
-4.  Merged similar materials between the .objs
+4.  Merged similar materials between the .objs.
 5.  Created a `<default>` section to define common properties for joints, actuators, and geoms.
 6.  Added an equality constraint so that the right finger mimics the position of the left finger.
 7.  Manually designed box collision geoms for the gripper.
 8.  Added `exclude` clause to prevent collisions between `base_link` and `link1`.
 9.  Added position controlled actuators.
 10. Added `impratio=10` and `cone=elliptic` for better noslip.
-11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+11. Added `scene.xml` which includes the robot with a textured groundplane, skybox, and haze.
 
 ## License
 
-This model is released under an [MIT License](LICENSE).
+This model is released under a [BSD 3-Clause License](LICENSE).
 
 ## Acknowledgement
 

arx_l5/arx_l5.png

@@ -36,6 +36,7 @@
   </asset>
 
   <worldbody>
+    <light mode="targetbodycom" target="link8" pos="1 0 1"/>
     <body name="base_link">
       <geom mesh="base_link" material="black_mat" class="visual"/>
       <geom mesh="base_link" class="collision"/>