diff --git a/robots/mjlab/NOTICE.md b/robots/mjlab/NOTICE.md
new file mode 100644
index 0000000000000000000000000000000000000000..7b6905b61fe9f20decfedd986a0d38e88c5d0892
--- /dev/null
+++ b/robots/mjlab/NOTICE.md
@@ -0,0 +1,20 @@
+# mjlab MJCF assets — provenance & license
+
+These MJCF files and meshes are redistributed from **mjlab**
+(https://github.com/mujocolab/mjlab), licensed under **Apache License 2.0**.
+
+The layout mirrors mjlab's `src/mjlab/` tree so RoboVerse's locator
+(`roboverse_pack/tasks/mjlab/_locator.py`) can resolve them by a pure prefix swap.
+
+Per-robot upstream provenance:
+
+| dir | robot | upstream | typical license |
+|-----|-------|----------|-----------------|
+| `asset_zoo/robots/unitree_g1`  | Unitree G1  | mujoco_menagerie | BSD-3-Clause |
+| `asset_zoo/robots/unitree_go1` | Unitree Go1 | mujoco_menagerie | BSD-3-Clause |
+| `asset_zoo/robots/i2rt_yam`    | I2RT YAM    | i2rt / mjlab     | Apache-2.0 |
+| `tasks/cartpole`               | cartpole    | mjlab            | Apache-2.0 |
+
+Assets are hosted in the `RoboVerseOrg/roboverse_data` HuggingFace dataset under
+`robots/mjlab/` and downloaded on demand; a local `~/projects/mjlab` clone (or
+`MJLAB_REPO`) takes precedence when present.
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/mjlab/asset_zoo/robots/i2rt_yam/xmls/yam.xml b/robots/mjlab/asset_zoo/robots/i2rt_yam/xmls/yam.xml
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,184 @@
+<mujoco model="yam_v0">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <default>
+    <default class="yam">
+      <site group="5" size="0.005" rgba="0 1 0 1"/>
+      <joint axis="0 0 1"/>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+        <default class="sphere_collision">
+          <geom size="0.0006 0 0" type="sphere" rgba="1 0 0 1" group="4"/>
+        </default>
+      </default>
+      <default class="finger">
+        <joint type="slide"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba="0.25 0.25 0.25 1"/>
+    <material name="white" rgba="0.9 0.9 0.9 1"/>
+
+    <mesh file="model2.stl"/>
+    <mesh file="model2__2.stl"/>
+    <mesh file="model2__3.stl"/>
+    <mesh file="model2__4.stl"/>
+    <mesh file="model2__5.stl"/>
+    <mesh file="model2__6.stl"/>
+    <mesh file="model2__7.stl"/>
+    <mesh file="model2__8.stl"/>
+    <mesh file="model2__9.stl"/>
+    <mesh file="model2__10.stl"/>
+    <mesh file="model2__11.stl"/>
+    <mesh file="model2__12.stl"/>
+    <mesh file="model2__13.stl"/>
+    <mesh file="model2__14.stl"/>
+    <mesh file="model2__15.stl"/>
+    <mesh file="model2__16.stl"/>
+    <mesh file="model2__17.stl"/>
+
+    <mesh name="camera_d405" file="d405.stl"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="link_6" pos="0 0 1"/>
+    <camera name="front_cam" pos="1.1 0 .5" xyaxes="0 1 0 -0.3 0 0.7"/>
+    <body name="arm" childclass="yam">
+      <geom class="visual" pos="0 0 -0.0006" quat="1 0 0 1" mesh="model2"/>
+      <geom name="base_collision" class="collision" size="0.033 0.01" pos="0.0 0.0 0.026" quat="1 0 0 0"/>
+      <body name="link_1" pos="0 0 0.0631" quat="1 0 0 1">
+        <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="joint1" range="-2.61799 3.05433"/>
+        <geom class="visual" pos="5.26159e-07 2.34355e-07 -0.0632" quat="1 0 0 0" mesh="model2__2"/>
+        <body name="link_2" pos="2.5e-05 -0.02 0.0409" quat="1 1 1 1">
+          <inertial pos="0.132008 2.10599e-06 0.000293073" quat="1 1 1 1" mass="1.24434"
+            diaginertia="0.0121902 0.0121318 0.000683304"/>
+          <joint name="joint2" range="0 3.66519"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__3"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__4"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__5" material="white"/>
+          <geom name="link2_1_collision" class="collision" size="0.032 0.11" pos="0.13 0 0" quat="1 0 1 0"/>
+          <geom name="link2_2_collision" class="collision" size="0.033 0.02" pos="0 0.0 0" quat="1 0 0 0"/>
+          <geom name="link2_3_collision" class="collision" size="0.033 0.025" pos="0.265 0 0" quat="1 0 0 0"/>
+          <body name="link_3" pos="0.264 0 0" quat="0 1 0 0">
+            <inertial pos="-0.121816 -0.054846 -0.000111108" quat="1 1 1 1" mass="0.853698"
+              diaginertia="0.00699732 0.00696112 0.000788244"/>
+            <joint name="joint3" range="0 3.66519"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__6"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__7"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__8" material="white"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__9"/>
+            <geom name="link3_1_collision" class="collision" size="0.034 0.12" pos="-0.14 -0.06 0.0" quat="1 0 1 0"/>
+            <geom name="link3_2_collision" class="collision" size="0.034 0.015" pos="-0.24 -0.06 0.0" quat="1 0 0 0"/>
+            <body name="link_4" pos="-0.245 -0.06 0" quat="1 0 0 0">
+              <inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.667 0.667 -0.236 -0.236" mass="0.463511"
+                diaginertia="0.000791532 0.000744733 0.000282116"/>
+              <joint name="joint4" range="-1.5708 1.5708"/>
+              <geom class="visual" pos="0.00100023 0.164101 2.44738e-05" quat="1 1 1 -1" mesh="model2__10"/>
+              <geom name="link4_1_collision" class="collision" size="0.03 0.015" pos="-0.073 -0.06 0.0" quat="1 1 0 0"/>
+              <body name="link_5" pos="-0.074 -0.0395 2.5e-05" quat="1 -1 1 1">
+                <inertial pos="3.64861e-05 0.00025665 0.0353526" quat="1 0 0 0" mass="0.350962"
+                  diaginertia="0.000197802 0.0001775 0.000147402"/>
+                <joint name="joint5" range="-1.5708 1.5708"/>
+                <geom class="visual" pos="0 -0.0749971 0.203601" quat="1.32679e-06 1 0 0" mesh="model2__11"/>
+                <geom name="link5_1_collision" class="collision" size="0.030 0.015" pos="0 0.025 0.0395" quat="1 1 0 0"/>
+                <body name="link_6" pos="0 0.0353 0.0395" quat="1 -1 0 0">
+                  <inertial pos="-0.000217767 7.37059e-05 0.0270545" quat="1 1 0 0" mass="0.367476"
+                    diaginertia="0.000265958 0.000242686 0.000227409"/>
+                  <joint name="joint6" range="-2.0944 2.0944"/>
+                  <geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__12"/>
+                  <geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__13"/>
+                  <geom name="link6_1_collision" class="collision" size="0.01 0.035" pos="0 0.039 0.052" quat="1 0 1 0"/>
+                  <geom name="link6_2_collision" class="collision" size="0.030 0.005" pos="0 0.0 0.03" quat="1 0 0 1"/>
+                  <geom name="link6_3_collision" class="collision" size="0.01 0.035" pos="0 -0.039 0.052" quat="1 0 1 0"/>
+                  <site name="tcp_site" quat="1 0 0 -1"/>
+                  <site name="grasp_site" pos="0 -0.03 0.1247" quat="1 0 0 -1"/>
+                  <body name="link_left_finger" pos="-0.037 0.0392 0.0605" quat="1 0 1 0">
+                    <inertial pos="-0.0192995 -0.0365902 0.039774" quat="0.757351 0.568898 -0.3199 0.0" mass="0.118"
+                      diaginertia="0.000159084 0.000154909 4.63655e-05"/>
+                    <joint class="finger" name="left_finger" range="-0.00205 0.037524"/>
+                    <geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__14"/>
+                    <geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__15"/>
+                    <body name="lf_rot" quat="1 -1 -1 1" pos="0.0 -0.0392 0.037">
+                      <geom name="lf_rot1_collision" class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012"
+                        quat="1 0 1 0" rgba="0.381493 0.492734 0.780446 1"/>
+                      <geom name="lf_rot2_collision" class="collision" size="0.01 0.02" pos="-0.02 -0.01 0.032"
+                        quat="1 0 2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
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+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
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+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
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+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
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+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
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+            <joint name="waist_pitch_joint" axis="0 1 0" range="-0.52 0.52"/>
+            <geom class="visual" mesh="torso_link"/>
+            <geom class="visual" pos="0.0039635 0 -0.044" quat="1 0 0 0" material="black" mesh="logo_link"/>
+            <geom class="visual" pos="0.0039635 0 -0.044" material="black" mesh="head_link"/>
+            <geom name="torso_collision" class="collision" size="0.09" fromto="0.01 0 0.08 0.01 0 0.2"/>
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="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="left_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704"/>
+              <geom class="visual" mesh="left_shoulder_pitch_link"/>
+              <body name="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="left_shoulder_roll_joint" axis="1 0 0" range="-1.5882 2.2515"/>
+                <geom class="visual" mesh="left_shoulder_roll_link"/>
+                <body name="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="left_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618"/>
+                  <geom class="visual" mesh="left_shoulder_yaw_link"/>
+                  <geom name="left_shoulder_yaw_collision" class="collision" size="0.035" fromto="0 0 -0.08 0 0 0.05"/>
+                  <body name="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="left_elbow_joint" axis="0 1 0" range="-1.0472 2.0944"/>
+                    <geom class="visual" mesh="left_elbow_link"/>
+                    <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01"/>
+                    <body name="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="left_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"/>
+                      <geom class="visual" mesh="left_wrist_roll_link"/>
+                      <body name="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="left_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"/>
+                        <geom class="visual" mesh="left_wrist_pitch_link"/>
+                        <geom name="left_wrist_collision" class="collision" size="0.035" fromto="-0.01 0 0 0.06 0 0"/>
+                        <body name="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="left_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"/>
+                          <geom class="visual" mesh="left_wrist_yaw_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual" mesh="left_rubber_hand"
+                            material="black"/>
+                          <site name="left_palm" pos="0.08 0 0" size="0.01"/>
+                          <geom name="left_hand_collision" class="collision" size="0.035" fromto="0.07 0 0 0.15 -0.02 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="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="right_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704"/>
+              <geom class="visual" mesh="right_shoulder_pitch_link"/>
+              <body name="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="right_shoulder_roll_joint" axis="1 0 0" range="-2.2515 1.5882"/>
+                <geom class="visual" mesh="right_shoulder_roll_link"/>
+                <body name="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="right_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618"/>
+                  <geom class="visual" mesh="right_shoulder_yaw_link"/>
+                  <geom name="right_shoulder_yaw_collision" class="collision" size="0.035" fromto="0 0 -0.08 0 0 0.05"/>
+                  <body name="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="right_elbow_joint" axis="0 1 0" range="-1.0472 2.0944"/>
+                    <geom class="visual" mesh="right_elbow_link"/>
+                    <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01"/>
+                    <body name="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="right_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"/>
+                      <geom class="visual" mesh="right_wrist_roll_link"/>
+                      <body name="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="right_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"/>
+                        <geom class="visual" mesh="right_wrist_pitch_link"/>
+                        <geom name="right_wrist_collision" class="collision" size="0.035" fromto="-0.01 0 0 0.06 0 0"/>
+                        <body name="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="right_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"/>
+                          <geom class="visual" mesh="right_wrist_yaw_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual" mesh="right_rubber_hand"
+                            material="black"/>
+                          <site name="right_palm" pos="0.08 0 0" size="0.01"/>
+                          <geom name="right_hand_collision" class="collision" size="0.035" fromto="0.07 0 0 0.15 0.02 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="left_elbow_link" body2="left_wrist_pitch_link"/>
+    <exclude body1="right_elbow_link" body2="right_wrist_pitch_link"/>
+    <exclude body1="pelvis" body2="right_hip_roll_link"/>
+    <exclude body1="pelvis" body2="left_hip_roll_link"/>
+  </contact>
+  <sensor>
+    <gyro name="imu_ang_vel" site="imu_in_pelvis"/>
+    <velocimeter name="imu_lin_vel" site="imu_in_pelvis"/>
+    <accelerometer name="imu_lin_acc" site="imu_in_pelvis"/>
+    <subtreeangmom name="root_angmom" body="pelvis"/>
+  </sensor>
+</mujoco>
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/calf.stl b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/calf.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f931a0901b3ea25851279138cb5e587cf5168b02
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/calf.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3685e132454fd64e4ca3e5089f0d812fb53958e95c14913a22e3193e9e9ed8
+size 1447984
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/hip.stl b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/hip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..74ea3455f6718ada803d528bfa5355cc9af21a37
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/hip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6599b9dd2751ebd87449203223f5683a6c235268b76fcc443e00e0d974a06c0
+size 1505284
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh.stl b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0fecd692e9d4769c6ab360c204122b6b9701c1bb
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf7c0a441323088c59276dbec8a32e708a1c61f42d30a6f6775176366ea23f8
+size 793584
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh_mirror.stl b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh_mirror.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cbc63eae9b9ed062675a65992bde5a28c07f144b
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh_mirror.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a90b89de47a57cb12a2d703f6b008a6ace8a1890a381c27723296fd0d00b9d8
+size 950834
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/trunk.stl b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/trunk.stl
new file mode 100644
index 0000000000000000000000000000000000000000..368742200f0c135b48397b80f7cb93f4df974975
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/trunk.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051a57995dc6f892fc9bc53cd94e9a894f3dc209fd646e94d55d764150013970
+size 5619284
diff --git a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/go1.xml b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/go1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f392e6bfb8f725d0bec8fb8b1127dd035ce6305
--- /dev/null
+++ b/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/go1.xml
@@ -0,0 +1,170 @@
+<mujoco model="go1">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <default>
+    <default class="go1">
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule" contype="1" conaffinity="1"/>
+        <default class="thigh1">
+          <geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
+        </default>
+        <default class="thigh2">
+          <geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
+        </default>
+        <default class="thigh3">
+          <geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
+        </default>
+        <default class="calf1">
+          <geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
+        </default>
+        <default class="calf2">
+          <geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
+        </default>
+        <default class="foot">
+          <geom type="sphere" size="0.023" pos="0 0 -0.213"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="dark" rgba="0.2 0.2 0.2 1"/>
+
+    <mesh class="go1" file="trunk.stl"/>
+    <mesh class="go1" file="hip.stl"/>
+    <mesh class="go1" file="thigh_mirror.stl"/>
+    <mesh class="go1" file="calf.stl"/>
+    <mesh class="go1" file="thigh.stl"/>
+  </asset>
+
+  <worldbody>
+    <body name="trunk" pos="0 0 0.445" childclass="go1">
+      <light pos="0 0 2" mode="trackcom"/>
+      <camera name="tracking" pos="0.846 -1.3 0.316" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
+      <camera name="top" pos="-1 0 1" xyaxes="0 -1 0 0.7 0 0.7" mode="trackcom"/>
+      <camera name="side" pos="0 -1 .3" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <camera name="back" pos="-1 0 .3" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <site name="head" pos="0.3 0 0" rgba="1 0 0 1" size="0.02" group="5"/>
+      <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"/>
+      <freejoint name="floating_base_joint"/>
+      <geom class="visual" mesh="trunk"/>
+      <geom name="trunk_collision" class="collision" type="box" size="0.13 0.09 0.05" pos="0 0 0"/>
+      <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0.24 0 0"/>
+      <site name="imu" pos="-0.01592 -0.06659 -0.00617" group="5"/>
+      <body name="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="FR_hip_joint" axis="1 0 0" range="-0.863 0.863"/>
+        <geom class="visual" mesh="hip" quat="1 0 0 0"/>
+        <geom name="FR_hip_collision" class="collision" type="capsule" fromto="0 -0.02 0 0 -0.04 0" size="0.05"/>
+        <body name="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="FR_thigh_joint" axis="0 1 0" range="-0.686 4.501"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom name="FR_thigh_collision1" class="thigh1"/>
+          <geom name="FR_thigh_collision2" class="thigh2"/>
+          <geom name="FR_thigh_collision3" class="thigh3"/>
+          <body name="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="FR_calf_joint" axis="0 1 0" range="-2.818 -0.888"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="FR_calf_collision1" class="calf1"/>
+            <geom name="FR_calf_collision2" class="calf2"/>
+            <geom name="FR_foot_collision" class="foot"/>
+            <site name="FR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="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="FL_hip_joint" axis="1 0 0" range="-0.863 0.863"/>
+        <geom class="visual" mesh="hip"/>
+        <geom name="FL_hip_collision" class="collision" type="capsule" fromto="0 0.02 0 0 0.04 0" size="0.05"/>
+        <body name="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="FL_thigh_joint" axis="0 1 0" range="-0.686 4.501"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom name="FL_thigh_collision1" class="thigh1"/>
+          <geom name="FL_thigh_collision2" class="thigh2"/>
+          <geom name="FL_thigh_collision3" class="thigh3"/>
+          <body name="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="FL_calf_joint" axis="0 1 0" range="-2.818 -0.888"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="FL_calf_collision1" class="calf1"/>
+            <geom name="FL_calf_collision2" class="calf2"/>
+            <geom name="FL_foot_collision" class="foot"/>
+            <site name="FL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="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="RR_hip_joint" axis="1 0 0" range="-0.863 0.863"/>
+        <geom class="visual" quat="0 0 0 -1" mesh="hip"/>
+        <geom name="RR_hip_collision" class="collision" type="capsule" fromto="0 -0.02 0 0 -0.04 0" size="0.05"/>
+        <body name="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="RR_thigh_joint" axis="0 1 0" range="-0.686 4.501"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom name="RR_thigh_collision1" class="thigh1"/>
+          <geom name="RR_thigh_collision2" class="thigh2"/>
+          <geom name="RR_thigh_collision3" class="thigh3"/>
+          <body name="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="RR_calf_joint" axis="0 1 0" range="-2.818 -0.888"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="RR_calf_collision1" class="calf1"/>
+            <geom name="RR_calf_collision2" class="calf2"/>
+            <geom name="RR_foot_collision" class="foot"/>
+            <site name="RR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="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="RL_hip_joint" axis="1 0 0" range="-0.863 0.863"/>
+        <geom class="visual" quat="0 0 1 0" mesh="hip"/>
+        <geom name="RL_hip_collision" class="collision" type="capsule" fromto="0 0.02 0 0 0.04 0" size="0.05"/>
+        <body name="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="RL_thigh_joint" axis="0 1 0" range="-0.686 4.501"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom name="RL_thigh_collision1" class="thigh1"/>
+          <geom name="RL_thigh_collision2" class="thigh2"/>
+          <geom name="RL_thigh_collision3" class="thigh3"/>
+          <body name="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="RL_calf_joint" axis="0 1 0" range="-2.818 -0.888"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="RL_calf_collision1" class="calf1"/>
+            <geom name="RL_calf_collision2" class="calf2"/>
+            <geom name="RL_foot_collision" class="foot"/>
+            <site name="RL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <sensor>
+    <gyro name="imu_ang_vel" site="imu"/>
+    <velocimeter name="imu_lin_vel" site="imu"/>
+    <accelerometer name="imu_lin_acc" site="imu"/>
+    <subtreeangmom name="root_angmom" body="trunk"/>
+  </sensor>
+</mujoco>
diff --git a/robots/mjlab/tasks/cartpole/cartpole.xml b/robots/mjlab/tasks/cartpole/cartpole.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd10c5d6e02042e6998655fd094854659d92281e
--- /dev/null
+++ b/robots/mjlab/tasks/cartpole/cartpole.xml
@@ -0,0 +1,39 @@
+<mujoco model="cartpole">
+  <option timestep="0.01"/>
+
+  <default>
+    <default class="pole">
+      <joint type="hinge" axis="0 1 0" damping="2e-6"/>
+      <geom type="capsule" fromto="0 0 0 0 0 1" size="0.045" material="pole" mass=".1"/>
+    </default>
+  </default>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
+    <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
+    <material name="cart" rgba=".7 .1 .1 1"/>
+    <material name="pole" rgba=".1 .5 .8 1"/>
+    <material name="decoration" rgba=".3 .3 .3 1"/>
+  </asset>
+
+  <worldbody>
+    <light name="light" pos="0 0 6"/>
+    <camera name="fixed" pos="0 -4 1" zaxis="0 -1 0"/>
+    <camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/>
+    <geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="grid"/>
+    <geom name="rail1" type="capsule" pos="0 .07 1" zaxis="1 0 0" size="0.02 2" material="decoration"/>
+    <geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 2" material="decoration"/>
+    <body name="cart" pos="0 0 1">
+      <joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="5e-4"/>
+      <geom name="cart" type="box" size="0.2 0.15 0.1" material="cart" mass="1"/>
+      <body name="pole_1" childclass="pole">
+        <joint name="hinge_1"/>
+        <geom name="pole_1"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="slide" joint="slider" gear="10" ctrllimited="true" ctrlrange="-1 1"/>
+  </actuator>
+</mujoco>