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Cleanup newly added models.
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‎README.md‎

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- [Menagerie Models](#menagerie-models)
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- [Citing Menagerie](#citing-menagerie)
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- [Acknowledgments](#acknowledgments)
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- [Changelog](#changelog)
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- [License and Disclaimer](#license-and-disclaimer)
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## Getting Started
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| PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
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| PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️|
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**Mobile Bases.**
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| Name | Maker | DoFs | License | MJX |
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|------|-------|---------|---------|-----|
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| Omniwheel Soccer Robot | Robot Soccer Kit | 4 | [MIT](robot_soccer_kit/LICENSE) |✖️|
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**Humanoids.**
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| Name | Maker | DoFs | License | MJX |
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|------|-------|---------|---------|-----|
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| Adam Lite | PNDbotics | 25 | [MIT](pndbotics_adam_lite/LICENSE) |✖️|
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| Apptronik Apollo | Apptronik | 32 | [Apache-2.0](apptronik_apollo/LICENSE) |✔️|
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| Berkeley Humanoid | Hybrid Robotics | 12 | [BSD-3-Clause](berkeley_humanoid/LICENSE) |✖️|
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| Booster T1 | Booster Robotics | 23 | [Apache-2.0](booster_t1/LICENSE) |✖️|
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| Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️|
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| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
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| Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️|
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| Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|
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| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
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**Quadrupeds.**
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| Name | Maker | DoFs | License | MJX |
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|------|-------|---------|---------|-----|
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| IIT Softfoot | IIT Softbots | 92 | [BSD-3-Clause](iit_softfoot/LICENSE) |✖️|
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| flybody | Google DeepMind, HHMI Janelia Research Campus | 102 | [Apache-2.0](flybody/LICENSE) |✖️|
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**Miscellaneous.**

‎arx_l5/arx_l5.xml‎

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<keyframe>
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<key name="home" qpos="0 0.251 0.314 0 0 0 0.044 -0.044" ctrl="0 0.251 0.314 0 0 0 0.044"/>
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</keyframe>
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</mujoco>
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</mujoco>

‎arx_l5/scene.xml‎

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<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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</worldbody>
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</mujoco>
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</mujoco>

‎dynamixel_2r/README.md‎

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## See also
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* [BAM repository](https://github.com/rhoban/bam): exploring extended modeling of the friction
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* [BAM repository](https://github.com/rhoban/bam): exploring extended modeling of the friction.
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## License
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This model is released under a [MIT License](LICENSE)
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This model is released under an [MIT License](LICENSE).

‎dynamixel_2r/dynamixel_2r.xml‎

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‎dynamixel_2r/scene.xml‎

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<mujoco model="scene">
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<include file="dynamixel_2r.xml" />
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<include file="dynamixel_2r.xml"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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<rgba haze="0.15 0.25 0.35 1" />
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<global azimuth="160" elevation="-20" />
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</visual>
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<statistic center="0 0 0.3" extent=".6"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
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height="3072" />
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
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rgb2="0.1 0.2 0.3"
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markrgb="0.8 0.8 0.8" width="300" height="300" />
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
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reflectance="0.2" />
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</asset>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global azimuth="160" elevation="-20"/>
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</visual>
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<worldbody>
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<light pos="0 0 3.5" dir="0 0 -1" directional="true" />
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<geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
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</worldbody>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
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markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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</asset>
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<worldbody>
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<light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
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<geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane"/>
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</worldbody>
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</mujoco>

‎iit_softfoot/README.md‎

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# IIT SoftFoot Description (MJCF)
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Requires MuJoCo 3.2.0 or later.
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> [!IMPORTANT]
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> Requires MuJoCo 3.2.0 or later.
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## Overview
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## Usage
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The SoftFoot model is intended to be attached as an end effector to a legged robot. This can be achieved through several methods:
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- Using the `<attach/>` element in the robot MJCF, and referencing the `attachment_cube` body from the softfoot MJCF. The provided example `scene.xml` uses this method.
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- Procedurally attaching it through [`mjSpec`](https://mujoco.readthedocs.io/en/stable/programming/modeledit.html).
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- Adding the SoftFoot to the MJCF through the [`mjcf` python module](https://github.com/google-deepmind/dm_control/tree/main/dm_control/mjcf).
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## License
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This model is released under an [BSD-3-Clause License](LICENSE).
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## Publications
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If you use this work in an academic context, please cite the following publications:
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@article{softfoot2024,
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author={Piazza, Cristina and Santina, Cosimo Della and Grioli, Giorgio and Bicchi, Antonio and Catalano, Manuel G.},
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journal={IEEE Transactions on Robotics},
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title={Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains},
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journal={IEEE Transactions on Robotics},
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title={Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains},
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year={2024},
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volume={40},
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number={},
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pages={3290-3305},
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keywords={Foot;Robots;Legged locomotion;Stability analysis;Robot kinematics;Shape;Humanoid robots;Adaptive foot;humanoid robots;soft robots},
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doi={10.1109/TRO.2024.3415237}
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}
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‎iit_softfoot/scene.xml‎

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<!-- This example scene attaches to a foot to a simple loading test rig, demonstrating
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the foot's compliance against an obstacle.-->
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<mujoco model="softfoot scene">
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<!-- This example scene attaches to a foot to a simple loading test rig, demonstrating the foot's
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compliance against an obstacle.-->
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<statistic center="0 0 0.55" extent="1.1"/>
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<statistic center="0 0 0.1" extent=".3"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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</body>
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<geom type="cylinder" euler="90 0 0" rgba="0.8 0.7 0.2 1" size="0.025 0.1"/>
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</worldbody>
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<actuator>
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<position joint="load" kp="1000" ctrllimited="true" ctrlrange="0 0.3"/>
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</actuator>

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