Remove green visual material inheritance

Make Atom MJCFs directly trainable

Use Newton solver for atom01 MJCFs

Tune atom01 capsule foot collisions

Tune Atom01 capsule collisions

Add Atom01 toe frames and shrink capsule base collision

Add Atom01 capsule and mesh collision MJCFs

Normalize Atom01 MJCF visual geoms and remove floors

Remove Atom01 floor and disable mesh collisions

Upload Atom01 MuJoCo assets

initial commit