Merge pull request #168 from google-deepmind:quagla-patch-1

PiperOrigin-RevId: 751498018
Change-Id: I655ef92bc0d38be8a57355a0fa9eba56b25039b3

Author: copybara-github

.github/pull_request_template.md

@@ -0,0 +1,19 @@
+# Description
+
+<!-- Briefly describe what this PR does -->
+
+Fixes: <!-- List any GitHub issues this PR addresses -->
+
+# Checklist
+
+Please check off each item (`[x]`) once complete, or mark it as `[N/A]` if it doesn't apply:
+
+- [ ] Added your name to `CONTRIBUTORS.md` (alphabetically by first name)
+- [ ] Updated `CHANGELOG.md`:
+  - [ ] Global changelog (if your change affects the overall repo)
+  - [ ] Model-specific changelog (if it affects a specific model only)
+- [ ] Followed the XML formatting/style guidelines (if editing MJCF)
+- [ ] Ran `pytest test/` locally and ensured all tests pass
+- [ ] Signed the [Contributor License Agreement (CLA)](https://cla.developers.google.com/)
+
+Refer to the [contributing guide](https://github.com/google-deepmind/mujoco_menagerie/blob/main/CONTRIBUTING.md) if you're unsure about any of the steps.

CHANGELOG.md

@@ -0,0 +1,9 @@
+# Changelog – MuJoCo Menagerie
+
+All notable changes to this repository will be documented here.
+
+## [22/04/2025]
+- Adds changelog structure, contributor list, and PR template.
+
+## [07/09/2022]
+- Initial release.

CONTRIBUTING.md

@@ -64,6 +64,15 @@ checks that no simulation instabilities occur. In the future, we will likely add
 more tests that check for model realism (e.g., that a trajectory in real matches
 one in simulation).
 
+## Changelog & Contributors
+
+Please document your changes in the appropriate changelog:
+
+- For updates that affect the general repository (e.g., CI, tooling, documentation, shared infrastructure), add an entry to the [global `CHANGELOG.md`](./CHANGELOG.md).
+- For changes specific to a model, update the `CHANGELOG.md` in that model’s directory (e.g., `unitree_go1/CHANGELOG.md`).
+
+Make sure to also add your name to the [`CONTRIBUTORS.md`](./CONTRIBUTORS.md), keeping the list sorted alphabetically by first name.
+
 ## Contributor License Agreement
 
 Contributions to this project must be accompanied by a Contributor License

CONTRIBUTORS.md

@@ -0,0 +1,42 @@
+# MuJoCo Menagerie – Contributors
+
+Built by the Google DeepMind team with contributions from the open-source community — thank you to everyone who helped shape this project.
+
+## Core Team
+
+- [Alessio Quaglino](https://github.com/quagla) — Google DeepMind
+- [Baruch Tabanpour](https://github.com/btaba) — Google DeepMind
+- [Kevin Zakka](https://github.com/kevinzakka) — Maintainer, Google DeepMind
+- [Nimrod Gileadi](https://github.com/nimrod-gileadi) — Google DeepMind
+- [Saran Tunyasuvunakool](https://github.com/saran-t) — Google DeepMind
+- [Tom Erez](https://github.com/erez-tom) — Google DeepMind
+- [Yuval Tassa](https://github.com/yuvaltassa) — Google DeepMind
+
+## Community Contributors
+
+- [Albert Li](https://github.com/alberthli)
+- [Alper Ahmetoglu](https://github.com/alper111)
+- [Andrew Luo](https://github.com/Andrew-Luo1)
+- [Ayzaan Wahid](https://github.com/ayzaan)
+- [Chintan Desai](https://github.com/hello-chintan)
+- [Dada Tian](https://github.com/lonelyfluency)
+- [Eugene Frizza](https://github.com/eufrizz)
+- [Ian Noh](https://github.com/dongridong)
+- [Jonathan Zamora](https://github.com/jonzamora)
+- [Kallinteris Andreas](https://github.com/Kallinteris-Andreas)
+- [Lev Kozlov](https://github.com/lvjonok)
+- [Lorenzo Amatucci](https://github.com/lorenzo96-cmd)
+- [Louis Le Lay](https://github.com/louislelay)
+- [Martin Günther](https://github.com/muhrix)
+- [Mohamed Fazil](https://github.com/hello-fazil)
+- [Nikita Cherniadev](https://github.com/chernyadev)
+- [Omar Rayyan](https://github.com/omarrayyann)
+- [Sai Kishor Kothakota](https://github.com/saikishor)
+- [Taylor Howell](https://github.com/thowell)
+- [Thomas Lips](https://github.com/tlpss)
+- [Thomas Peyrucain](https://github.com/thomaspeyrucain)
+- [Varad Vaidya](https://github.com/varadVaidya)
+
+---
+
+Want to contribute? Check out our [CONTRIBUTING.md](./CONTRIBUTING.md) guide and submit a pull request!

LICENSE

@@ -361,6 +361,40 @@ License for contents in the directory 'apptronik_apollo/'
    limitations under the License.
 
 
+================================================================================
+License for contents in the directory 'arx_l5/'
+================================================================================
+
+BSD 3-Clause License
+
+Copyright (c) 2023-2025, ARXrobotics
+
+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.
+
+
 ================================================================================
 License for contents in the directory 'berkeley_humanoid/'
 ================================================================================
@@ -652,6 +686,31 @@ 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.
 
 
+================================================================================
+License for contents in the directory 'dynamixel_2r/'
+================================================================================
+
+Copyright (c) <2024-2099> Marc Duclusaud and Grégoire Passault
+
+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:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+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.
+
+
 ================================================================================
 License for contents in the directory 'flybody/'
 ================================================================================
@@ -2153,6 +2212,23 @@ License for contents in the directory 'hello_robot_stretch_3/'
    limitations under the License.
 
 
+================================================================================
+License for contents in the directory 'iit_softfoot/'
+================================================================================
+
+Copyright (c) 2024, Istituto Italiano di Tecnologia
+
+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.
+
+
 ================================================================================
 License for contents in the directory 'kinova_gen3/'
 ================================================================================
@@ -2816,6 +2892,33 @@ License for contents in the directory 'pal_tiago_dual/'
    limitations under the License.
 
 
+================================================================================
+License for contents in the directory 'pndbotics_adam_lite/'
+================================================================================
+
+MIT License
+
+Copyright (c) 2023 pndrobotics
+
+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:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+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.
+
+
 ================================================================================
 License for contents in the directory 'realsense_d435i/'
 ================================================================================
@@ -3231,6 +3334,19 @@ License for contents in the directory 'rethink_robotics_sawyer/'
    limitations under the License.
 
 
+================================================================================
+License for contents in the directory 'robot_soccer_kit/'
+================================================================================
+
+Copyright 2019-2099 Rhoban Team <Grégoire Passault>
+
+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:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+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.
+
+
 ================================================================================
 License for contents in the directory 'robotiq_2f85/'
 ================================================================================

README.md

@@ -46,6 +46,7 @@ well right out of the gate.
 - [Menagerie Models](#menagerie-models)
 - [Citing Menagerie](#citing-menagerie)
 - [Acknowledgments](#acknowledgments)
+- [Changelog](#changelog)
 - [License and Disclaimer](#license-and-disclaimer)
 
 ## Getting Started
@@ -172,6 +173,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| ARX L5 | ARX Robotics | 7 | [BSD-3-Clause](arx_l5/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) |✖️|
@@ -228,17 +230,24 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
 | PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️|
 
+**Mobile Bases.**
+
+| Name | Maker | DoFs    | License | MJX |
+|------|-------|---------|---------|-----|
+| Omniwheel Soccer Robot | Robot Soccer Kit | 4 | [MIT](robot_soccer_kit/LICENSE) |✖️|
+
 **Humanoids.**
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| Adam Lite | PNDbotics | 25 | [MIT](pndbotics_adam_lite/LICENSE) |✖️|
 | Apptronik Apollo | Apptronik | 32 | [Apache-2.0](apptronik_apollo/LICENSE) |✔️|
 | Berkeley Humanoid | Hybrid Robotics | 12 | [BSD-3-Clause](berkeley_humanoid/LICENSE) |✖️|
 | Booster T1 | Booster Robotics | 23 | [Apache-2.0](booster_t1/LICENSE) |✖️|
 | Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️|
+| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
 | Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️|
 | Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|
-| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
 
 **Quadrupeds.**
 
@@ -257,6 +266,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| IIT Softfoot | IIT Softbots | 92 | [BSD-3-Clause](iit_softfoot/LICENSE) |✖️|
 | flybody | Google DeepMind, HHMI Janelia Research Campus | 102 | [Apache-2.0](flybody/LICENSE) |✖️|
 
 **Miscellaneous.**
@@ -280,16 +290,19 @@ If you use Menagerie in your work, please use the following citation:
 
 ## Acknowledgments
 
-The models in this repository are based on third-party models designed by many
-talented people, and would not have been possible without their generous
-open-source contributions. We would like to acknowledge all the designers
-and engineers who made MuJoCo Menagerie possible.
+The models in this repository are based on third-party models designed by many talented people, and would not have been possible without their generous open-source contributions. We would like to acknowledge all the designers and engineers who made MuJoCo Menagerie possible.
 
 We'd like to thank Pedro Vergani for his help with visuals and design.
 
-The main effort required to make this repository publicly available was
-undertaken by [Kevin Zakka](https://kzakka.com/), with help from the Robotics
-Simulation team at Google DeepMind.
+The main effort required to make this repository publicly available was undertaken by [Kevin Zakka](https://kzakka.com/), with help from the Robotics Simulation team at Google DeepMind.
+
+This project has also benefited from contributions by members of the broader community — see the [CONTRIBUTORS.md](./CONTRIBUTORS.md) for a full list.
+
+## Changelog
+
+For a summary of key updates across the repository, see the [global CHANGELOG.md](./CHANGELOG.md).
+
+Each individual model also includes its own `CHANGELOG.md` file with model-specific updates, linked directly from the corresponding README.
 
 ## License and Disclaimer
 

agilex_piper/CHANGELOG.md

@@ -0,0 +1,6 @@
+# Changelog – AgileX PiPER Description
+
+All notable changes to this model will be documented in this file.
+
+## [16/02/2025]
+- Initial release.

agilex_piper/README.md

@@ -1,7 +1,12 @@
 ## AgileX PiPER Description (MJCF)
 
+> [!IMPORTANT]
 > Requires MuJoCo 2.3.4 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 [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).

agility_cassie/CHANGELOG.md

@@ -0,0 +1,6 @@
+# Changelog – Agility Cassie Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/09/2022]
+- Initial release.

agility_cassie/README.md

@@ -1,6 +1,11 @@
 # Agility Cassie Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview