s10-supermimic/s10_supermimic/robot/model

S10 model adapted from the Deep Robotics deployment SDK (S10_description/s10_mjcf/S10.xml). Only the 17 mesh files referenced by s10.xml are included. The source XML is BSD-3-Clause, see ../LICENSE_s10.

Local changes:

• Removed the world floor and light so mjlab can attach the robot to its own terrain.
• Removed the torque <motor> actuator block; mjlab adds native position actuators for the 12 leg joints and native velocity actuators for the 4 wheels.
• Added names to the four wheel collision cylinders (fl/fr/hl/hr_wheel_collision) so wheel friction randomisation and contact sensors can address them.
• Removed the <sensor> block. The SDK XML has unnamed accelerometer and gyro elements, which mjlab tries to wrap as a sensor with an empty name and fails with KeyError: Invalid name '' during scene initialization. The training actor/world model read MuJoCo data directly and do not use these XML sensors.
• robot/config.py names remaining unnamed collision geoms, clears collision margins for Warp MULTICCD compatibility, and delegates solver options to the task.
• meshdir changed from ../meshes/ to meshes/.

Default pose, joint limits, link geometry and inertial values are unchanged from the SDK model. Actuator gains follow the SDK/IsaacLab S10 configuration: legs kp=80, kd=2, effort=50 N·m; wheels damping=0.8, effort=14 N·m. These values are taken from the provided deployment/training projects and are not independently hardware-calibrated here.