diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8c6509bfafaad5ce4c30a40b70463a95ca5fd04
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68417a2f9f4d3bb77a37bf05adece825f0b53826
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_control.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e30de8147525e8495e5891aec5611686a70a9bc
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_control.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e95d269fac92518128161c044c0297afab7b8c65
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_sensor.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..65356e5545d85f6f2f9a2560c92843cb4cf465f0
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/_play_force.urdf b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/_play_force.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fcce0fa7d759d4cf2b1bac2ac3f14f80a38131d5
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4025318105a39ce0683691b1fa477183b7511a44
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_appendix.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..196a5bce4411ccf061dee4c4d8cdd9d3ba5f4d9a
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_appendix.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_control.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1f66699db9f959e10745a83de3260cfebb23752d
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_control.xml
@@ -0,0 +1,9 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8a5ca8530ead36366f6c042112c4fcbb88306ffa
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_dependencies.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_sensor.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3439ac3d07ac21bc2ae051a092ce6a6848f59547
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_sensor.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_peg.xml b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_peg.xml
new file mode 100644
index 0000000000000000000000000000000000000000..986d77cc889f4d4fe334acaa3db1ab13446e7f8e
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_peg.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/LICENSE b/assets/discoverse/models/mjcf/manipulator/arx_l5/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..9ba230aaf03bdc8d991b4a7fd6fdc7fc26b06a1d
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/LICENSE
@@ -0,0 +1,28 @@
+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.
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/README.md b/assets/discoverse/models/mjcf/manipulator/arx_l5/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..f8375f71955465bc9d3506f60da8b76c3ded4b19
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/README.md
@@ -0,0 +1,39 @@
+## ARX L5 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 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 [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).
+
+
+
+
+
+### Derivation steps
+
+1. Added `` to the URDF's
+ `` 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.
+5. Created a `` 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.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Jonathan Zamora](https://jonzamora.dev/).
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.png b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad1e21b113f63a31af535550daf19dd226a23519
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf54f9f893c51e373459cf23c1c6a862f9ede6eb0561d0ccdbe418e13120843e
+size 577964
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.xml b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..084bf14fe3d0d8759a670ebe2101365a8aed32e6
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.xml
@@ -0,0 +1,63 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_appendix.xml b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..889c7fe7db50cab8672e107559c0f02427329ca8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_appendix.xml
@@ -0,0 +1,11 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_control.xml b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..599c949c7878baa9ca5273c8cdd8206fcb5131d2
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_control.xml
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6eb88f37282df28c4efa6a5cf436153950065a96
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_dependencies.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_sensor.xml b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4eadff5dd1df40d15285086d67b9260557ce51b8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_sensor.xml
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.png b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf7c97a5117194fc2df6e7c3564c42b49724448c
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06b3abe37f4d7b89ed7708774b508eb78530537c2d04cf33948a4902f45e2b60
+size 589229
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.xml b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..027e73b2fedaac5380f5a3d04baad64efb8c8029
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.xml
@@ -0,0 +1,55 @@
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_appendix.xml b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e580e83d19980cb7c09c95a552d52a20263556a8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_appendix.xml
@@ -0,0 +1,11 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_control.xml b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7a6dad2a5fb924e61ece279299302c84c6a36d8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_control.xml
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3af7be65bdf6c4f9e4224e03eb258d0f96a63cc1
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_dependencies.xml
@@ -0,0 +1,36 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_sensor.xml b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e96b234f050ec21b8287bb155d7b69ad3794d64c
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_sensor.xml
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/LICENSE b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d9a10c0d8e868ebf8da0b3dc95bb0be634c34bfe
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/LICENSE
@@ -0,0 +1,176 @@
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
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+ any Contribution intentionally submitted for inclusion in the Work
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+ the terms of any separate license agreement you may have executed
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+ 6. Trademarks. This License does not grant permission to use the trade
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+ 7. Disclaimer of Warranty. Unless required by applicable law or
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+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
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+ 9. Accepting Warranty or Additional Liability. While redistributing
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+ END OF TERMS AND CONDITIONS
diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/README.md b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..383d21da01e24490ce941c223f1e533002431c58
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/README.md
@@ -0,0 +1,57 @@
+# Franka Emika Panda Description (MJCF)
+
+Requires MuJoCo 2.3.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Franka Emika
+Panda](https://www.franka.de/) developed by [Franka
+Emika](https://www.franka.de/company). It is derived from the [publicly
+available URDF
+description](https://github.com/frankaemika/franka_ros/tree/develop/franka_description).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+ files](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/visual)
+ to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Eliminated the perfectly flat `link0_6` from the resulting submeshes created for `link0`.
+4. Created a convex decomposition of the STL collision [mesh
+ file](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/collision)
+ for `link5` using [V-HACD](https://github.com/kmammou/v-hacd).
+5. Added `` to the
+ [URDF](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/robots)'s
+ `` clause in order to preserve visual geometries.
+6. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+7. Matched inertial parameters with [inertial.yaml](
+ https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml).
+8. Added a tracking light to the base.
+9. Manually edited the MJCF to extract common properties into the `` section.
+10. Added `` clauses to prevent collisions between `link7` and `link8`.
+11. Manually designed collision geoms for the fingertips.
+12. Added position-controlled actuators for the arm.
+13. Added an equality constraint so that the left finger mimics the position of the right finger.
+14. Added a tendon to split the force equally between both fingers and a
+ position actuator acting on this tendon.
+15. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+### MJX
+
+A version of the Franka Emika Panda environment was created for MJX. Steps:
+
+1. Added `mjx_panda.xml`, forked from `panda.xml`.
+2. Added `mjx_scene.xml` and `mjx_single_cube.xml`, forked from `scene.xml`.
+3. Gripper collision geometries were modified to contain less geoms. A capsule collision geom was added to the hand.
+4. Solver parameters were tuned for performance.
+5. Actuator `kp` and `kv` were reduced for more stable simulation.
+6. Added a `site` to the gripper.
+7. Removed tendon and added position actuator for the gripper. Changed gripper `ctrlrange`.
+
+## License
+
+This model is released under an [Apache-2.0 License](LICENSE).
diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.png b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dbf79669e756b0f1071d27f4d57655169763925
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7303149e3759c6fa02164438b81f20efe7527d523fbe2d71bbde6f80fde0ea30
+size 798836
diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.xml b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.xml
new file mode 100644
index 0000000000000000000000000000000000000000..82b7a982ebcc07f7b96da2a35ca7567984fb1afc
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.xml
@@ -0,0 +1,126 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_control.xml b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f2d85ccd6a6c7cabcf9b203ce331a7a48d13aeaa
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_control.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1b53c1bf236b5c13a2fbd61e385de1532b32dee
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_dependencies.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_sensor.xml b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6983615bd930090bbf24cde96908669b44914f86
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_sensor.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/franka_robotiq/panda_robotiq.xml b/assets/discoverse/models/mjcf/manipulator/franka_robotiq/panda_robotiq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acea5da82fd504cb584be292afa1ee9f364f7f11
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_robotiq/panda_robotiq.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/franka_robotiq/pick_fruit.xml b/assets/discoverse/models/mjcf/manipulator/franka_robotiq/pick_fruit.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42938f531ce97f852d516430a767f2d95971a97d
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/franka_robotiq/pick_fruit.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/LICENSE b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d4681a468ef93f00712d31e79c5262f72b73299f
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/LICENSE
@@ -0,0 +1,31 @@
+All components of Drake are licensed under the BSD 3-Clause License
+shown below. Where noted in the source code, some portions may
+be subject to other permissive, non-viral licenses.
+
+Copyright 2012-2022 Robot Locomotion Group @ CSAIL
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer. 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. Neither the name of
+the Massachusetts Institute of Technology 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.
diff --git a/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/README.md b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..74a3df410b42fe6a46188b20cb0cebd09a212fd7
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/README.md
@@ -0,0 +1,31 @@
+# KUKA LBR iiwa 14 Description (MJCF)
+
+Requires MuJoCo 2.3.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [LBR iiwa](https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa) 14kg developed
+by [KUKA Robotics](https://www.kuka.com/en-us). It is derived from the [publicly available](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)
+URDF description created by the [Drake](https://github.com/RobotLocomotion/drake) developers.
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the
+ [URDF](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)'s
+ `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Created base body and added its corresponding inertial properties.
+4. Added a tracking light to the base.
+5. Manually edited the MJCF to extract common properties into the `` section.
+6. Added `` clauses to prevent collisions between `base` and `link1`.
+7. Added actuators for the arm.
+8. Added forcelimits to match the torque limits in the [spec sheet](https://www.reeco.co.uk/wp-content/uploads/2020/05/KUKA-LBR-iiwa-technical-data.pdf).
+9. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14.xml b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14.xml
new file mode 100644
index 0000000000000000000000000000000000000000..08fa018c10d67ab06044276dbe50e05efac9fe4e
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14.xml
@@ -0,0 +1,177 @@
+
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diff --git a/assets/discoverse/models/mjcf/manipulator/new_airbot_play/mjx_airbot_play_sensor.xml b/assets/discoverse/models/mjcf/manipulator/new_airbot_play/mjx_airbot_play_sensor.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_appendix.xml b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..435c2db1b44e49e83a9c5b693c63dd56c00815d1
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_appendix.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_control.xml b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47f0f2bb6a34503c8337e2906cf21b2803f90e7d
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_control.xml
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d1b2771b22730b929f0888d96b808bd0d11c966
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_sensor.xml b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..84ca7821ab2262ad3e4c01ff00c0aa615c5920a7
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_airbot_play.xml b/assets/discoverse/models/mjcf/manipulator/robot_airbot_play.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e17e266f045407ed35bfd2571e1e09aa8d6629c7
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_airbot_play_force.xml b/assets/discoverse/models/mjcf/manipulator/robot_airbot_play_force.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd41b71bd5aeea264e844c46628cc38009ca7d3e
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_airbot_play_g2.xml b/assets/discoverse/models/mjcf/manipulator/robot_airbot_play_g2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3cb7f0dab3ba27a7530f5cc68e1c985b658156d6
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_arx_l5.xml b/assets/discoverse/models/mjcf/manipulator/robot_arx_l5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98a973d5bf0852479026f6c102945fc4b932aa9b
--- /dev/null
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_arx_x5.xml b/assets/discoverse/models/mjcf/manipulator/robot_arx_x5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..36b150200e673a86ec975a1332b7bf81d80247d0
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_arx_x5.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_iiwa14.xml b/assets/discoverse/models/mjcf/manipulator/robot_iiwa14.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07ca6b1e36c18d591e713ab9d741f010ff2ca768
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_iiwa14.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_panda.xml b/assets/discoverse/models/mjcf/manipulator/robot_panda.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c352c18538dccf46e6921f1bc96cfca94be72dd
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_panda.xml
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new file mode 100644
index 0000000000000000000000000000000000000000..93f1a99ea5ed6667b3a0035cf14fe4fd23962c65
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_piper.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_rm65.xml b/assets/discoverse/models/mjcf/manipulator/robot_rm65.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db2fb2c184a5cf6ddd8700762c0fa5f341cc569f
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_rm65.xml
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_ur5e.xml b/assets/discoverse/models/mjcf/manipulator/robot_ur5e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..074dedb963efc8303b01a8795a1b87830f077715
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_ur5e.xml
@@ -0,0 +1,26 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/robot_xarm7.xml b/assets/discoverse/models/mjcf/manipulator/robot_xarm7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..942c9ae0611b20facca9854fa045fbb7d3507947
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/robot_xarm7.xml
@@ -0,0 +1,27 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/roombia/airplay_pick_blocks.xml b/assets/discoverse/models/mjcf/manipulator/roombia/airplay_pick_blocks.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5390423c4a35b25c543c49d3e5ee29ce2c2637c2
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/roombia/airplay_pick_blocks.xml
@@ -0,0 +1,217 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/LICENSE b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..2ac522888a6639e7de4666d8c8e2c25e8eaf21a4
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2018, UFACTORY Inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+ * 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.
+ * 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.
diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/README.md b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..649d6021fa2a99eda2748628aa62f0fea3e6be21
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/README.md
@@ -0,0 +1,33 @@
+# xArm7 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 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 [xArm7
+arm](https://www.ufactory.cc/product-page/ufactory-xarm-7/) developed by
+[UFACTORY](https://www.ufactory.cc/). It is derived from the [publicly available
+URDF
+description](https://github.com/xArm-Developer/xarm_ros/tree/master/xarm_description/urdf/xarm7).
+
+
+
+
+
+## URDF → MJCF derivation steps
+
+1. Added `` to the URDF's
+ `` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to extract common properties into the `` section.
+4. Added actuators for the arm and hand.
+5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.png b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a1d168137405d7668c6cf5621447b5ca76f09d5
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f780aacaf3304f03322931fd07273828f092b160d5a64e4a2dd638bb8985c7f
+size 789832
diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.xml b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f363dfd97819087ac1bca0016ce778f2bf0afb0
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7.xml
@@ -0,0 +1,92 @@
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\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_appendix.xml b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_appendix.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5b075bad0ec697b9a367dbade32c755ecd012c56
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_appendix.xml
@@ -0,0 +1,26 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_control.xml b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..483332bf0c7611ccbc9bcd3849289ce6fccb51d5
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_control.xml
@@ -0,0 +1,10 @@
+
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diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a036322c2f1d92c4411b89feb1435d16fcdd8e49
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_dependencies.xml
@@ -0,0 +1,74 @@
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diff --git a/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_sensor.xml b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ea16ba6ef32d02eb4c749bce942f9bed9004a80
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/ufactory_xarm7/xarm7_sensor.xml
@@ -0,0 +1,10 @@
+
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diff --git a/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/LICENSE b/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f24e07cb6524f2a5e42a466c27c655a9ceb674a6
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/LICENSE
@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+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.
diff --git a/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/README.md b/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e7544a2fe9b053820bdde193d572921fd6657c94
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/universal_robots_ur5e/README.md
@@ -0,0 +1,36 @@
+# Universal Robots UR5e Description (MJCF)
+
+Requires MuJoCo 2.3.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[UR5e](https://www.universal-robots.com/products/ur5-robot/) developed by
+[Universal Robots](https://www.universal-robots.com/). It is derived from the
+[publicly available URDF
+description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.png b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e5d385d9ced3ef397086678d42143da18c82b64
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c9c74ffecf39ec8ea04416235c4a54decd0789263d4e28a223e24b863ee892
+size 1482863
diff --git a/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.xml b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d1646d7323eeccb1deff6066ac57270212b46e31
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/realman_rm65/rm65.xml
@@ -0,0 +1,115 @@
+
+
+