diff --git a/robots/mjlab/NOTICE.md b/robots/mjlab/NOTICE.md
deleted file mode 100644
index 7b6905b61fe9f20decfedd986a0d38e88c5d0892..0000000000000000000000000000000000000000
--- a/robots/mjlab/NOTICE.md
+++ /dev/null
@@ -1,20 +0,0 @@
-# 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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diff --git a/robots/mjlab/asset_zoo/robots/i2rt_yam/xmls/yam.xml b/robots/mjlab/asset_zoo/robots/i2rt_yam/xmls/yam.xml
deleted file mode 100644
index 08051bb43670d75cd5ee3788617a96896e7c6cb6..0000000000000000000000000000000000000000
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-<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"/>
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-      <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"/>
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-    <mesh file="model2__4.stl"/>
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-    <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"
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-        <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"
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-          <geom name="link2_2_collision" class="collision" size="0.033 0.02" pos="0 0.0 0" quat="1 0 0 0"/>
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-            <inertial pos="-0.121816 -0.054846 -0.000111108" quat="1 1 1 1" mass="0.853698"
-              diaginertia="0.00699732 0.00696112 0.000788244"/>
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-              <inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.667 0.667 -0.236 -0.236" mass="0.463511"
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-            <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"/>
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-            <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">
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-                  diaginertia="0.000691311 0.000618011 0.000388977"/>
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-                <geom class="visual" mesh="left_shoulder_roll_link"/>
-                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
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-                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
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-                  <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">
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-                      diaginertia="0.000443035 0.000421612 0.000259353"/>
-                    <joint name="left_elbow_joint" axis="0 1 0" range="-1.0472 2.0944"/>
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-                        <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"/>
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-                        <geom class="visual" mesh="left_wrist_pitch_link"/>
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-                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
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-                          <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"/>
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-                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
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-                        <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"/>
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-                            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"/>
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-    <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
deleted file mode 100644
index f931a0901b3ea25851279138cb5e587cf5168b02..0000000000000000000000000000000000000000
--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/calf.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-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
deleted file mode 100644
index 74ea3455f6718ada803d528bfa5355cc9af21a37..0000000000000000000000000000000000000000
--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/hip.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-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
deleted file mode 100644
index 0fecd692e9d4769c6ab360c204122b6b9701c1bb..0000000000000000000000000000000000000000
--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-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
deleted file mode 100644
index cbc63eae9b9ed062675a65992bde5a28c07f144b..0000000000000000000000000000000000000000
--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/thigh_mirror.stl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-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
deleted file mode 100644
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--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/assets/trunk.stl
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-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
deleted file mode 100644
index 9f392e6bfb8f725d0bec8fb8b1127dd035ce6305..0000000000000000000000000000000000000000
--- a/robots/mjlab/asset_zoo/robots/unitree_go1/xmls/go1.xml
+++ /dev/null
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-<mujoco model="go1">
-  <compiler angle="radian" meshdir="assets" autolimits="true"/>
-
-  <default>
-    <default class="go1">
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-        <geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
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-    <mesh class="go1" file="trunk.stl"/>
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-  <worldbody>
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-        <geom class="visual" quat="0 0 0 -1" mesh="hip"/>
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-      <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
deleted file mode 100644
index bd10c5d6e02042e6998655fd094854659d92281e..0000000000000000000000000000000000000000
--- a/robots/mjlab/tasks/cartpole/cartpole.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<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>