Proposal to add remaining Universal Robots (UR) models (UR3e, UR7e, UR12e, UR16e, etc.)

Hi Menagerie team,

I am working on porting the remaining Universal Robots arms to MuJoCo (expanding beyond the existing UR5e and UR10e).
Current Status:
Ready for PR: UR3e, UR7e, UR12e, UR16e.
In progress: UR3, UR5, UR10 (fixing mesh issues from upstream).
Mostly ready (pending license check): UR8LONG, UR15, UR18, UR20, UR30.

Before submitting a PR, I would like to clarify upstream mesh licensing for the newer models.
URL for existing model source:
https://github.com/UniversalRobots/Universal_Robots_ROS2_Description

License terms:
BSD-3-Clause: e-Series (UR3e, UR7e, UR12e, UR16e) and CB3 (UR3, UR5, UR10).
"Graphical Documentation" License: Newer heavy/long models (UR20, UR30, UR8LONG, UR15, UR18). Upstream notes these mesh terms do not fully align with OSI open-source definitions.

Question: Does Menagerie accept the official meshes for the UR20/UR30 generation under this license, or should I restrict the PR strictly to the BSD-licensed models (UR3e, UR7e, UR12e, UR16e, etc.)?

Required conversion & tuning:
Translating Xacro/URDF trees into native MJCF.
Extracting mass, inertia, and kinematic parameters from upstream YAML files.
Converting .dae meshes to .obj/.stl and setting up collisions.
Actuator tuning for out-of-the-box stability.

Maintenance:
Yes, I will submit the PRs, make necessary adjustments, and help maintain these models.

Best Regards,
Hamid

Start with the Universal Robots ROS2 Description source linked in the issue, checking the Xacro/URDF trees, upstream YAML files, and mesh license terms for each model group. Confirm which models Menagerie can accept before preparing native MJCF conversions, mesh files, collision setup, and actuator tuning. Done means the permitted models are submitted as stable MuJoCo models with their licenses accounted for.

Written by the indexing model from the issue text.