diff --git a/AGENTS.md b/AGENTS.md
index 4ca2f4c3..a9e246d5 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -9,12 +9,13 @@ MotrixLab 是构建在 MotrixSim 仿真后端之上的强化学习框架，提
 
 ## Workspace 结构
 
-项目使用 UV workspace，包含十二个 package：
+项目使用 UV workspace，包含以下 package：
 
-- `motrix_env_core`：backend 无关的环境框架（不依赖任何 simulator）
+- `motrix_env_core`：backend 无关的环境框架，拥有 robot registry 与 `motrix_env_core.robots` entry-point discovery（不依赖任何 simulator 或 `motrix_robots`）
 - `motrix_env_motrixsim`：MotrixSim 仿真后端（SimBackend、scene compiler、renderer、torch frontend）
 - `motrix_env_mujoco`：仅用于编译的 MuJoCo scene 后端
-- `motrix_envs`：内置环境、机器人模型与任务资产
+- `motrix_robots`：仿真 `RobotCfg`、模型自有关键姿态及模型 MJCF/URDF、mesh 与模型纹理资产，仅依赖 core；模型定义模块与 `assets/` 位于 package 根目录，任务场景、地面与 terrain 资产属于 `motrix_envs`。根 package 以显式 `__all__` 提供模型类和类型化 humanoid/quadruped helper 的公共 API；框架内部从定义模块导入。注册回调由首次 robot registry 查询惰性调用；导入 package 或模型类不触发 discovery、注册、资产扫描或读取，也不加载 simulator 或训练环境
+- `motrix_envs`：内置环境与任务资产
 - `motrix_rl`：RL 控制平面、训练编排与稳定 contracts（runner、run/checkpoint、backend 选择、`motrix_rl.frameworks` discovery、provider/trainer 接口）
 - `motrix_rl_builtin`：内置 Motrix FastSAC provider 插件
 - `motrix_rl_skrl`：SKRL PPO provider 插件（Torch 必需，额外 JAX runtime 可选）
@@ -99,7 +100,7 @@ Python 方法，由 manager 运行时契约定义（`wiki/design/manager/runtime
 
 ### 版本与依赖一致性
 
-- 所有 workspace package（见上文 Workspace 结构，共十二个）的 `pyproject.toml` 中 `version` 字段必须保持一致。
+- 所有 workspace package（见上文 Workspace 结构）的 `pyproject.toml` 中 `version` 字段必须保持一致。
 - MotrixSim 相关依赖版本必须在使用该依赖的 workspace package 之间保持一致。
 - 关键第三方依赖使用精确版本锁定（`===`）；新增或升级依赖时同步更新 `uv.lock`。
 
diff --git a/README.md b/README.md
index d86b4ea0..209dced4 100644
--- a/README.md
+++ b/README.md
@@ -161,11 +161,20 @@ Seven reusable robot models are registered out of the box and can be combined in
 python scripts/view.py robot=go2
 ```
 
+Use the public configuration API to compose a model directly:
+
+```python
+from motrix_robots import Microduck, UnitreeGo2Robot
+
+microduck = Microduck()
+go2 = UnitreeGo2Robot()
+```
+
 See [Supported Robots](https://motrixlab.readthedocs.io/en/latest/user_guide/robots.html) for configuration details and how to add your own model.
 
 ## 🏗️ What's Inside
 
-MotrixLab is a [uv](https://docs.astral.sh/uv/) workspace of twelve packages:
+MotrixLab is a [uv](https://docs.astral.sh/uv/) workspace with the following packages:
 
 | Package | PyPI name | Description |
 | --- | --- | --- |
@@ -173,10 +182,11 @@ MotrixLab is a [uv](https://docs.astral.sh/uv/) workspace of twelve packages:
 | **motrix_deploy_mujoco** | `motrix-deploy-mujoco` | MuJoCo deployment backend plugin |
 | **motrix_deploy_unitree** | `motrix-deploy-unitree` | Unitree SDK2 DDS hardware backend plugin |
 | **motrix_deploy_tasks** | `motrix-deploy-tasks` | Versioned deployment tasks and executable bootstrap |
-| **motrix_env_core** | `motrix-env-core` | Backend-agnostic environment framework, configuration, registry, lifecycle, and rendering |
+| **motrix_env_core** | `motrix-env-core` | Backend-agnostic environment framework, configuration, registry, robot entry-point discovery, lifecycle, and rendering |
 | **motrix_env_motrixsim** | `motrix-env-motrixsim` | Live MotrixSim backend, renderer, and Torch frontend |
 | **motrix_env_mujoco** | `motrix-env-mujoco` | Compile-only MuJoCo scene backend |
-| **motrix_envs** | `motrix-envs` | Built-in environments, robot models, data, and deployment-profile compilers |
+| **motrix_robots** | `motrix-robots` | Simulation robot configs, model-owned poses, and model MJCF/URDF, meshes, and model textures; core-only dependency |
+| **motrix_envs** | `motrix-envs` | Built-in environments, task assets, data, and deployment-profile compilers |
 | **motrix_rl** | `motrix-rl` | RL control plane, provider/trainer contracts, run/checkpoint handling, and discovery |
 | **motrix_rl_builtin** | `motrix-rl-builtin` | Built-in Motrix FastSAC provider |
 | **motrix_rl_skrl** | `motrix-rl-skrl` | Required SKRL PPO Torch provider; optional JAX extra |
diff --git a/README.zh-CN.md b/README.zh-CN.md
index 9dcc0bab..2136856b 100644
--- a/README.zh-CN.md
+++ b/README.zh-CN.md
@@ -161,11 +161,20 @@ python scripts/view.py env=go2-walk-rough
 python scripts/view.py robot=go2
 ```
 
+通过公共配置 API 直接构造模型，用于场景组合：
+
+```python
+from motrix_robots import Microduck, UnitreeGo2Robot
+
+microduck = Microduck()
+go2 = UnitreeGo2Robot()
+```
+
 机器人配置细节与自定义新模型的方法见[支持的机器人](https://motrixlab.readthedocs.io/zh-cn/latest/user_guide/robots.html)。
 
 ## 🏗️ 项目组成
 
-MotrixLab 是一个由十二个 package 组成的 [uv](https://docs.astral.sh/uv/) workspace：
+MotrixLab 是一个 [uv](https://docs.astral.sh/uv/) workspace，包含以下 package：
 
 | Package | PyPI 名称 | 说明 |
 | --- | --- | --- |
@@ -173,10 +182,11 @@ MotrixLab 是一个由十二个 package 组成的 [uv](https://docs.astral.sh/uv
 | **motrix_deploy_mujoco** | `motrix-deploy-mujoco` | MuJoCo 部署 backend plugin |
 | **motrix_deploy_unitree** | `motrix-deploy-unitree` | Unitree SDK2 DDS 硬件 backend plugin |
 | **motrix_deploy_tasks** | `motrix-deploy-tasks` | 带版本的部署任务与可执行入口 bootstrap |
-| **motrix_env_core** | `motrix-env-core` | backend 无关的环境框架、配置、registry、生命周期与渲染 |
+| **motrix_env_core** | `motrix-env-core` | backend 无关的环境框架、配置、registry、robot entry-point discovery、生命周期与渲染 |
 | **motrix_env_motrixsim** | `motrix-env-motrixsim` | MotrixSim 实时仿真 backend、renderer 与 Torch frontend |
 | **motrix_env_mujoco** | `motrix-env-mujoco` | 仅负责编译场景的 MuJoCo backend |
-| **motrix_envs** | `motrix-envs` | 内置环境、机器人模型、数据及部署 profile 编译实现 |
+| **motrix_robots** | `motrix-robots` | 仿真机器人配置、模型自有姿态及 模型 MJCF/URDF、mesh 与模型纹理资产；仅依赖 core |
+| **motrix_envs** | `motrix-envs` | 内置环境、任务资产、数据及部署 profile 编译实现 |
 | **motrix_rl** | `motrix-rl` | RL 控制平面、provider/trainer contract、run/checkpoint 管理与 discovery |
 | **motrix_rl_builtin** | `motrix-rl-builtin` | 内置 Motrix FastSAC provider |
 | **motrix_rl_skrl** | `motrix-rl-skrl` | 必需的 SKRL PPO Torch provider；可选 JAX extra |
diff --git a/THIRD_PARTY_NOTICES.md b/THIRD_PARTY_NOTICES.md
index b54558dd..5b380f65 100644
--- a/THIRD_PARTY_NOTICES.md
+++ b/THIRD_PARTY_NOTICES.md
@@ -17,10 +17,10 @@ separately downloaded optional asset.
 | Franka Emika Panda MJCF and meshes | `motrix_envs/src/motrix_envs/manipulation/franka_lift_cube/xmls/`; `motrix_envs/src/motrix_envs/manipulation/franka_open_cabinet/xmls/` | [frankarobotics/franka_ros](https://github.com/frankarobotics/franka_ros/tree/develop/franka_description), see each directory README | The public source repository declares Apache-2.0; local model licenses are present. Record the exact imported revision and preserve attribution for all derived meshes |
 | Shadow Hand E3M5 description | `motrix_envs/src/motrix_envs/manipulation/shadow_hand/xmls/` | Record the exact upstream source and revision before release | A local Apache-2.0 file is present; upstream provenance still needs to be recorded |
 | RM65 descriptions and meshes | `motrix_envs/src/motrix_envs/manipulation/rm65_open_cabinet/xmls/`; `motrix_envs/src/motrix_envs/common/rm65/` | Record the exact upstream source and revision before release | A local Apache-2.0 file is present for the cabinet scene; verify every shared mesh |
-| Unitree G1, Go1 and Go2 assets | `motrix_envs/src/motrix_envs/robot/assets/`; `motrix_envs/src/motrix_envs/locomotion/go1/` | Record the exact Unitree source and model terms | Release approval required from the rights holder; trademarks and model terms are separate from the code license |
-| ANYmal-C assets | `motrix_envs/src/motrix_envs/robot/assets/anymal_c/`; `motrix_envs/src/motrix_envs/locomotion/anymal_c/` | Record the exact upstream source and model terms | Release approval and attribution required |
-| Booster K1 assets | `motrix_envs/src/motrix_envs/robot/assets/k1/` | [BoosterRobotics/booster_assets K1 model](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.xml) | The public repository declares BSD-3-Clause and the local XML identifies this source. Record the exact imported revision and confirm that the derived XML and meshes may be redistributed |
-| Dex-EVT assets | `motrix_envs/src/motrix_envs/robot/assets/dex_evt/` | Record the exact upstream source and model terms | No public provenance or redistribution permission is documented in this checkout; release approval and attribution are required |
+| Unitree G1, Go1 and Go2 assets | `motrix_robots/src/motrix_robots/assets/g1/`; `motrix_robots/src/motrix_robots/assets/go1/`; `motrix_robots/src/motrix_robots/assets/go2/` | Record the exact Unitree source and model terms | Release approval required from the rights holder; trademarks and model terms are separate from the code license |
+| ANYmal-C assets | `motrix_robots/src/motrix_robots/assets/anymal_c/`; `motrix_envs/src/motrix_envs/locomotion/anymal_c/` | Record the exact upstream source and model terms | Release approval and attribution required |
+| Booster K1 assets | `motrix_robots/src/motrix_robots/assets/k1/` | [BoosterRobotics/booster_assets K1 model](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.xml) | The public repository declares BSD-3-Clause and the local XML identifies this source. Record the exact imported revision and confirm that the derived XML and meshes may be redistributed |
+| Dex-EVT assets | `motrix_robots/src/motrix_robots/assets/dex_evt/` | Record the exact upstream source and model terms | No public provenance or redistribution permission is documented in this checkout; release approval and attribution are required |
 | LAFAN1 input data and converter | `motrix_envs/src/motrix_envs/motion/converters/`; downloaded inputs are not part of the repository | [LAFAN1 Retargeting Dataset](https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset) | CC BY-NC-ND 4.0 is documented by the user guide; retain attribution and state the non-commercial/no-derivatives limits before redistributing any converted output |
 | Bundled whole-body-tracking motion clips | `motrix_envs/src/motrix_envs/locomotion/wbt/assets/motion/` | Record the source, revision, author, and terms for each `*.npz` clip | Provenance and redistribution permission are not yet documented for every clip; do not publish until cleared |
 | Documentation videos, posters and benchmark figures | `docs/source/_static/` | Record whether each item is original, generated, or derived from a third-party asset | Verify the rights for the source material and the resulting media independently; retain attribution where required |
diff --git a/bench/bench_physics.py b/bench/bench_physics.py
index d6d01f37..d1028dbc 100644
--- a/bench/bench_physics.py
+++ b/bench/bench_physics.py
@@ -40,7 +40,6 @@
 import numpy as np
 from report import render_table
 
-import motrix_envs  # noqa: F401  registers robots and scene assets
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_motrixsim.compiler import MotrixSimSceneCompiler
diff --git a/docs/scripts/generate_robot_docs.py b/docs/scripts/generate_robot_docs.py
index 40993056..7be0995f 100644
--- a/docs/scripts/generate_robot_docs.py
+++ b/docs/scripts/generate_robot_docs.py
@@ -12,7 +12,6 @@
 import motrixsim as mtx
 from motrixsim.render import RenderApp, RenderSettings
 
-import motrix_envs  # noqa: F401 registers built-in robots
 from motrix_env_core import registry
 from motrix_env_core.config.scene import MjcfFileCfg, SystemCameraCfg, UrdfFileCfg
 from motrix_env_motrixsim.compiler import build_scene_model
diff --git a/docs/source/en/user_guide/envs/humanoid_velocity_tracking/adding_robot.md b/docs/source/en/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
index 78201758..963483e5 100644
--- a/docs/source/en/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
+++ b/docs/source/en/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
@@ -38,13 +38,12 @@ nested config overrides, field details, and tuning guidance.
 Use the following layout:
 
 ```text
-motrix_envs/src/motrix_envs/
-├── robot/
-│   ├── <robot>.py                # RobotCfg, including its default key pose
-│   └── assets/<robot>/           # Reusable robot assets
-└── locomotion/
-    └── humanoid/
-        └── <robot>.py            # Flat/terrain configs and environment registration
+motrix_robots/src/motrix_robots/
+├── <robot>.py                    # RobotCfg and default key pose
+└── assets/<robot>/               # Reusable robot assets
+
+motrix_envs/src/motrix_envs/locomotion/humanoid/
+└── <robot>.py                    # Flat/terrain configs and environment registration
 
 configs/task/
 ├── <robot>-walk-flat/
diff --git a/docs/source/en/user_guide/envs/quadruped_velocity_tracking/adding_robot.md b/docs/source/en/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
index 07e1be85..2f179165 100644
--- a/docs/source/en/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
+++ b/docs/source/en/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
@@ -8,13 +8,12 @@ construction, diagonal-trot rewards, reset, and termination.
 Use the following layout:
 
 ```text
-motrix_envs/src/motrix_envs/
-├── robot/
-│   ├── <robot>.py                # QuadrupedRobotCfg and default key pose
-│   └── assets/<robot>/           # Robot assets reusable across tasks
-└── locomotion/
-    └── quadruped/
-        └── <robot>.py            # Flat/rough configs and environment registration
+motrix_robots/src/motrix_robots/
+├── <robot>.py                    # QuadrupedRobotCfg and default key pose
+└── assets/<robot>/               # Robot assets reusable across tasks
+
+motrix_envs/src/motrix_envs/locomotion/quadruped/
+└── <robot>.py                    # Flat/rough configs and environment registration
 
 configs/task/
 ├── <robot>-walk-flat/
@@ -43,7 +42,7 @@ foot in front-left, front-right, rear-left, rear-right order:
 ```python
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
+from motrix_robots import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
 
 
 @configclass(kw_only=True)
diff --git a/docs/source/en/user_guide/robots.md b/docs/source/en/user_guide/robots.md
index b6eea17b..32d19890 100644
--- a/docs/source/en/user_guide/robots.md
+++ b/docs/source/en/user_guide/robots.md
@@ -1,7 +1,6 @@
 # Supported Robots
 
-MotrixLab exposes reusable robot models through the robot registry. A registered robot has a public `RobotCfg` and can
-be composed into different scenes and tasks. The table below is generated directly from the registry and robot configs.
+`motrix_robots` provides reusable robot models that you can preview independently or use in tasks from `motrix_envs`.
 
 ## Built-in robots
 
@@ -20,6 +19,38 @@ be composed into different scenes and tasks. The table below is generated direct
 
 <!-- ROBOT_TABLE_END -->
 
+## Preview a robot
+
+Use `view.py` to inspect a registered robot in its default pose without creating an RL environment:
+
+```bash
+python scripts/view.py robot=go2
+```
+
+Robot view mode builds a static standard scene. It does not sample actions or run a physics rollout.
+
+## Python API
+
+Import reusable configurations directly from `motrix_robots`:
+
+```python
+from motrix_robots import Microduck, UnitreeGo2Robot
+
+microduck = Microduck()
+go2 = UnitreeGo2Robot(prefix="robot_")
+```
+
+You can also select a robot by its registry name and place it in a standard scene:
+
+```python
+from motrix_env_core import registry
+from motrix_envs.config.scene import StandardSceneCfg, StandardSceneObjsCfg
+
+print(registry.list_registered_robots())
+robot = registry.make_robot_config("go2")
+scene = StandardSceneCfg(objs=StandardSceneObjsCfg(robot=robot))
+```
+
 ## Define a new robot
 
 A reusable robot should be defined as a `RobotCfg` that describes only the robot model and how it is instantiated.
@@ -31,7 +62,7 @@ markers, and task-created sensors belong to `SceneCfg` or the task configuration
 Use the following layout for a built-in robot:
 
 ```text
-motrix_envs/src/motrix_envs/robot/
+motrix_robots/src/motrix_robots/
 ├── my_robot.py
 └── assets/my_robot/
     ├── my_robot.xml              # or my_robot.urdf
@@ -45,7 +76,7 @@ Import `ActuatorCfg`, `PositionActuatorCfg`, and `MotorActuatorCfg` from `motrix
 
 ### 2. Declare the `RobotCfg`
 
-Define the configuration in `robot/my_robot.py` with `@configclass(kw_only=True)`. This is a minimal MJCF example:
+Define the configuration in `motrix_robots/src/motrix_robots/my_robot.py` with `@configclass(kw_only=True)`. This is a minimal MJCF example:
 
 ```python
 from pathlib import Path
@@ -88,7 +119,7 @@ robot joint poses here; ground names, task sensor names, and other scene semanti
 A humanoid robot should inherit `HumanoidRobotCfg` and define its left and right foot links:
 
 ```python
-from motrix_envs.robot import HumanoidRobotCfg
+from motrix_robots import HumanoidRobotCfg
 
 
 @configclass(kw_only=True)
@@ -138,18 +169,28 @@ Set `inherit_joint_range=True` to use imported joint limits as the control range
 
 ### 3. Register the robot
 
-Import and register a built-in robot in `motrix_envs/robot/__init__.py`:
+Register a built-in robot inside the `register()` callback in
+`motrix_robots/src/motrix_robots/registration.py`. Import the new class from its defining module
+and add its registration to the callback:
 
 ```python
 from motrix_env_core import registry
-from motrix_envs.robot.my_robot import MyRobot
+from motrix_robots.my_robot import MyRobot
 
-registry.robotcfg("my-robot")(MyRobot)
+
+def register() -> None:
+    # Keep the other built-in model registrations here.
+    registry.robotcfg("my-robot")(MyRobot)
 ```
 
-Also add `MyRobot` to that module's `__all__`. The registry name is the stable ID used by the CLI and
-`registry.make_robot_config()`. The class must be constructible without arguments; alternatively, register a typed
-zero-argument factory.
+Installed robot packages are discovered automatically; no manual registration import is needed.
+For a separate package, define the same `register()` callback using your own model import and declare it in that
+package's `pyproject.toml`:
+
+```toml
+[project.entry-points."motrix_env_core.robots"]
+my_robot = "my_robot_package.registration:register"
+```
 
 ### 4. Validate
 
@@ -172,32 +213,3 @@ To include the robot in the generated table above, add its type and screenshot p
 python docs/scripts/generate_robot_docs.py --screenshots my-robot
 python docs/scripts/generate_robot_docs.py --check
 ```
-
-## Preview a robot
-
-Use `view.py` to inspect a registered robot in its default pose without creating an RL environment:
-
-```bash
-python scripts/view.py robot=go2
-```
-
-Robot view mode builds a static standard scene. It does not sample actions or run a physics rollout.
-
-## Python API
-
-Importing `motrix_envs` registers the built-in robots. You can inspect the registry, create a fresh config, and compose
-it into a standard scene:
-
-```python
-import motrix_envs  # noqa: F401 registers built-in robots
-from motrix_env_core import registry
-from motrix_envs.config.scene import StandardSceneCfg, StandardSceneObjsCfg
-
-print(registry.list_registered_robots())
-
-robot = registry.make_robot_config("go2")
-scene = StandardSceneCfg(objs=StandardSceneObjsCfg(robot=robot))
-```
-
-`make_robot_config()` returns a new validated config on every call, so callers can safely customize placement, naming
-prefixes, or other instance-level fields.
diff --git a/docs/source/en/user_guide/tutorial/basic_frame.md b/docs/source/en/user_guide/tutorial/basic_frame.md
index 291cdaa3..bd2f3f35 100644
--- a/docs/source/en/user_guide/tutorial/basic_frame.md
+++ b/docs/source/en/user_guide/tutorial/basic_frame.md
@@ -34,14 +34,15 @@ With this loop in mind, every MotrixLab package has a place in the figure.
 
 ## Which part of the loop each package covers
 
-MotrixLab is a UV workspace of twelve packages. The packages are grouped by ownership rather than treated as one monolithic runtime:
+MotrixLab is a UV workspace. The packages are grouped by ownership rather than treated as one monolithic runtime:
 
 | Package | Loop stage | Responsibility |
 | --- | --- | --- |
 | `motrix_env_core` | Policy–environment interaction | Backend-agnostic environment framework: `EnvCfg`, registry, frontends, lifecycle |
 | `motrix_env_motrixsim` | Policy–environment interaction | MotrixSim `SimBackend`, renderer, and Torch frontend |
 | `motrix_env_mujoco` | Scene compilation | Compile-only MuJoCo scene backend |
-| `motrix_envs` | Policy–environment interaction | Built-in environments, robot models, and task assets |
+| `motrix_robots` | Simulation models | Robot models, default poses, and model assets |
+| `motrix_envs` | Policy–environment interaction | Built-in environments and task assets |
 | `motrix_rl` | Policy training and updates | RL control plane, provider/trainer contracts, run/checkpoint handling, and discovery |
 | `motrix_rl_builtin` | Policy training and updates | Built-in Motrix FastSAC provider |
 | `motrix_rl_skrl` | Policy training and updates | SKRL PPO provider for Torch (required) and optional JAX extra |
diff --git a/docs/source/zh_CN/user_guide/envs/humanoid_velocity_tracking/adding_robot.md b/docs/source/zh_CN/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
index e0ffcf8e..4b989391 100644
--- a/docs/source/zh_CN/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
+++ b/docs/source/zh_CN/user_guide/envs/humanoid_velocity_tracking/adding_robot.md
@@ -38,13 +38,12 @@ def make_robot_walk_flat_cfg() -> HumanoidVelocityTrackingEnvCfg:
 推荐将文件放在以下位置：
 
 ```text
-motrix_envs/src/motrix_envs/
-├── robot/
-│   ├── <robot>.py                # RobotCfg，包含默认 key pose
-│   └── assets/<robot>/           # 可跨任务复用的机器人资产
-└── locomotion/
-    └── humanoid/
-        └── <robot>.py            # 平地/地形配置与环境注册
+motrix_robots/src/motrix_robots/
+├── <robot>.py                    # RobotCfg 与默认关键姿态
+└── assets/<robot>/               # 可跨任务复用的机器人资产
+
+motrix_envs/src/motrix_envs/locomotion/humanoid/
+└── <robot>.py                    # 平地/地形配置与环境注册
 
 configs/task/
 ├── <robot>-walk-flat/
diff --git a/docs/source/zh_CN/user_guide/envs/quadruped_velocity_tracking/adding_robot.md b/docs/source/zh_CN/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
index 0be7cb09..6fe876f8 100644
--- a/docs/source/zh_CN/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
+++ b/docs/source/zh_CN/user_guide/envs/quadruped_velocity_tracking/adding_robot.md
@@ -7,13 +7,12 @@
 推荐使用以下目录布局：
 
 ```text
-motrix_envs/src/motrix_envs/
-├── robot/
-│   ├── <robot>.py                # QuadrupedRobotCfg 与默认关键姿态
-│   └── assets/<robot>/           # 可跨任务复用的机器人资产
-└── locomotion/
-    └── quadruped/
-        └── <robot>.py            # 平地/粗糙地形配置与环境注册
+motrix_robots/src/motrix_robots/
+├── <robot>.py                    # QuadrupedRobotCfg 与默认关键姿态
+└── assets/<robot>/               # 可跨任务复用的机器人资产
+
+motrix_envs/src/motrix_envs/locomotion/quadruped/
+└── <robot>.py                    # 平地/粗糙地形配置与环境注册
 
 configs/task/
 ├── <robot>-walk-flat/
@@ -41,7 +40,7 @@ robot = registry.make_robot_config("go2")
 ```python
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
+from motrix_robots import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
 
 
 @configclass(kw_only=True)
diff --git a/docs/source/zh_CN/user_guide/robots.md b/docs/source/zh_CN/user_guide/robots.md
index e7867891..0c1910fd 100644
--- a/docs/source/zh_CN/user_guide/robots.md
+++ b/docs/source/zh_CN/user_guide/robots.md
@@ -1,7 +1,6 @@
 # 支持的机器人
 
-MotrixLab 通过 robot registry 暴露可复用的机器人模型。注册后的 robot 具有公共 `RobotCfg`，可以组合到不同的
-scene 和 task 中。下表直接根据 registry 和 robot 配置生成。
+`motrix_robots` 提供可复用的机器人模型，可以独立预览，也可以用于 `motrix_envs` 中的任务。
 
 ## 内置机器人
 
@@ -20,6 +19,38 @@ scene 和 task 中。下表直接根据 registry 和 robot 配置生成。
 
 <!-- ROBOT_TABLE_END -->
 
+## 独立预览
+
+使用 `view.py` 可以在默认姿态下查看已注册 robot，无需创建 RL environment：
+
+```bash
+python scripts/view.py robot=go2
+```
+
+robot 模式会构建一个静态标准场景，不采样 action，也不执行 physics rollout。
+
+## Python API
+
+从 `motrix_robots` 直接导入可复用配置：
+
+```python
+from motrix_robots import Microduck, UnitreeGo2Robot
+
+microduck = Microduck()
+go2 = UnitreeGo2Robot(prefix="robot_")
+```
+
+也可以按 registry 名称选择机器人，并放入标准场景：
+
+```python
+from motrix_env_core import registry
+from motrix_envs.config.scene import StandardSceneCfg, StandardSceneObjsCfg
+
+print(registry.list_registered_robots())
+robot = registry.make_robot_config("go2")
+scene = StandardSceneCfg(objs=StandardSceneObjsCfg(robot=robot))
+```
+
 ## 定义新机器人
 
 新的可复用机器人应定义为 `RobotCfg`，只描述机器人本体及其实例化方式。机器人资产、执行器、仿真所需的 site 和通用
@@ -30,7 +61,7 @@ scene 和 task 中。下表直接根据 registry 和 robot 配置生成。
 内置机器人推荐使用以下目录结构：
 
 ```text
-motrix_envs/src/motrix_envs/robot/
+motrix_robots/src/motrix_robots/
 ├── my_robot.py
 └── assets/my_robot/
     ├── my_robot.xml              # 或 my_robot.urdf
@@ -44,7 +75,7 @@ MJCF 和 URDF 的执行器均通过机器人实例继承的 `BodyCfg.actuators`
 
 ### 2. 声明 `RobotCfg`
 
-在 `robot/my_robot.py` 中使用 `@configclass(kw_only=True)` 定义配置类。下面是一份最小的 MJCF 示例：
+在 `motrix_robots/src/motrix_robots/my_robot.py` 中使用 `@configclass(kw_only=True)` 定义配置类。下面是一份最小的 MJCF 示例：
 
 ```python
 from pathlib import Path
@@ -87,7 +118,7 @@ class MyRobot(RobotCfg):
 人形机器人应继承 `HumanoidRobotCfg`，并定义左右脚 link：
 
 ```python
-from motrix_envs.robot import HumanoidRobotCfg
+from motrix_robots import HumanoidRobotCfg
 
 
 @configclass(kw_only=True)
@@ -136,17 +167,27 @@ robot = RobotCfg(
 
 ### 3. 注册机器人
 
-内置机器人在 `motrix_envs/robot/__init__.py` 中导入并注册：
+内置机器人在 `motrix_robots/src/motrix_robots/registration.py` 的 `register()` 回调中注册。
+从新类的定义模块导入，并将注册语句加入回调：
 
 ```python
 from motrix_env_core import registry
-from motrix_envs.robot.my_robot import MyRobot
+from motrix_robots.my_robot import MyRobot
 
-registry.robotcfg("my-robot")(MyRobot)
+
+def register() -> None:
+    # 保留其他内置模型的注册语句。
+    registry.robotcfg("my-robot")(MyRobot)
 ```
 
-同时将 `MyRobot` 加入该模块的 `__all__`。注册名称是命令行和 `registry.make_robot_config()` 使用的稳定 ID；配置类必须能
-无参数构造，或者改用带明确返回类型的零参数 factory 注册。
+已安装的机器人 package 会自动发现，无需手动导入注册模块。
+若使用独立 package，在自己的注册模块中采用同样的 `register()` 回调并导入自己的模型，再在该 package 的
+`pyproject.toml` 中声明：
+
+```toml
+[project.entry-points."motrix_env_core.robots"]
+my_robot = "my_robot_package.registration:register"
+```
 
 ### 4. 验证
 
@@ -168,31 +209,3 @@ python -m pytest motrix_envs/tests/test_robot_cfg.py -q
 python docs/scripts/generate_robot_docs.py --screenshots my-robot
 python docs/scripts/generate_robot_docs.py --check
 ```
-
-## 独立预览
-
-使用 `view.py` 可以在默认姿态下查看已注册 robot，无需创建 RL environment：
-
-```bash
-python scripts/view.py robot=go2
-```
-
-robot 模式会构建一个静态标准场景，不采样 action，也不执行 physics rollout。
-
-## Python API
-
-导入 `motrix_envs` 会注册所有内置 robot。随后可以查看 registry、创建新的配置实例并组合到标准 scene 中：
-
-```python
-import motrix_envs  # noqa: F401 registers built-in robots
-from motrix_env_core import registry
-from motrix_envs.config.scene import StandardSceneCfg, StandardSceneObjsCfg
-
-print(registry.list_registered_robots())
-
-robot = registry.make_robot_config("go2")
-scene = StandardSceneCfg(objs=StandardSceneObjsCfg(robot=robot))
-```
-
-`make_robot_config()` 每次调用都会返回一个经过校验的新配置，因此调用方可以安全地修改位置、名称前后缀或其他
-实例级字段。
diff --git a/docs/source/zh_CN/user_guide/tutorial/basic_frame.md b/docs/source/zh_CN/user_guide/tutorial/basic_frame.md
index 2f891fd7..55f94f04 100644
--- a/docs/source/zh_CN/user_guide/tutorial/basic_frame.md
+++ b/docs/source/zh_CN/user_guide/tutorial/basic_frame.md
@@ -29,14 +29,15 @@ MotrixLab 将环境实现、仿真后端、训练方法、配置和命令行编
 
 ## MotrixLab package 与流程的对应
 
-MotrixLab 是一个由十二个 package 组成的 UV workspace。下面按所有权而不是按单一整体运行时划分这些 package：
+MotrixLab 是一个 UV workspace。下面按所有权而不是按单一整体运行时划分这些 package：
 
 | Package | 流程环节 | 职责 |
 | --- | --- | --- |
 | `motrix_env_core` | 策略与环境的交互 | backend 无关的环境框架：`EnvCfg`、registry、环境前端与生命周期 |
 | `motrix_env_motrixsim` | 策略与环境的交互 | MotrixSim `SimBackend`、renderer 与 Torch frontend |
 | `motrix_env_mujoco` | 场景编译 | 仅负责编译场景的 MuJoCo backend |
-| `motrix_envs` | 策略与环境的交互 | 内置环境、机器人模型与任务资产 |
+| `motrix_robots` | 仿真模型 | 机器人模型、默认姿态与模型资产 |
+| `motrix_envs` | 策略与环境的交互 | 内置环境与任务资产 |
 | `motrix_rl` | 策略的训练与更新 | RL 控制平面、provider/trainer contract、run/checkpoint 管理与 discovery |
 | `motrix_rl_builtin` | 策略的训练与更新 | 内置 Motrix FastSAC provider |
 | `motrix_rl_skrl` | 策略的训练与更新 | SKRL PPO Torch provider（必需）及可选 JAX extra |
diff --git a/motrix_env_core/src/motrix_env_core/registry.py b/motrix_env_core/src/motrix_env_core/registry.py
index 54f18311..0ed50c63 100644
--- a/motrix_env_core/src/motrix_env_core/registry.py
+++ b/motrix_env_core/src/motrix_env_core/registry.py
@@ -5,6 +5,7 @@
 import inspect
 from collections.abc import Callable
 from dataclasses import dataclass, field
+from importlib.metadata import EntryPoint, entry_points
 from typing import Any, get_type_hints
 
 from motrix_env_core.base import ABEnv, EnvCfg
@@ -98,7 +99,41 @@ class RobotMeta:
     robot_cfg_factory: RobotCfgFactory
 
 
+ROBOT_ENTRY_POINT_GROUP = "motrix_env_core.robots"
+
 _robots: dict[str, RobotMeta] = {}
+_robots_discovered = False
+_robots_discovering = False
+_robot_entry_points: tuple[EntryPoint, ...] | None = None
+_completed_robot_entry_points = 0
+
+
+def _discover_robots() -> None:
+    """Invoke installed robot registration callbacks on the first query.
+
+    Completed callbacks are not repeated if a later entry point fails. Failed
+    loads/callbacks propagate and are retried on the next query; any registration
+    side effects of a failed callback remain. Reentrant queries see the registry
+    as populated so far, without starting another discovery pass.
+    """
+    global _robots_discovered, _robots_discovering, _robot_entry_points, _completed_robot_entry_points
+    if _robots_discovered or _robots_discovering:
+        return
+    _robots_discovering = True
+    try:
+        if _robot_entry_points is None:
+            _robot_entry_points = tuple(
+                sorted(entry_points(group=ROBOT_ENTRY_POINT_GROUP), key=lambda ep: (ep.name, ep.value))
+            )
+        for entry_point in _robot_entry_points[_completed_robot_entry_points:]:
+            register = entry_point.load()
+            if not callable(register):
+                raise TypeError(f"Robot entry point {entry_point.name!r} must load a callable")
+            register()
+            _completed_robot_entry_points += 1
+        _robots_discovered = True
+    finally:
+        _robots_discovering = False
 
 
 def _get_env_meta(name: str) -> EnvMeta:
@@ -232,7 +267,8 @@ def decorator(provider: Any) -> Any:
 
 
 def make_robot_config(name: str) -> RobotCfg:
-    """Create and validate a fresh config for a registered robot."""
+    """Discover installed robot plugins, then create and validate a fresh config."""
+    _discover_robots()
     if name not in _robots:
         raise ValueError(f"Robot '{name}' is not registered.")
 
@@ -247,7 +283,8 @@ def make_robot_config(name: str) -> RobotCfg:
 
 
 def list_registered_robots() -> dict[str, dict[str, Any]]:
-    """List registered robot configs."""
+    """Discover installed robot plugins and list their registered configs."""
+    _discover_robots()
     return {
         name: {
             "config_class": meta.robot_cfg_cls.__name__,
diff --git a/motrix_env_core/tests/test_registry.py b/motrix_env_core/tests/test_registry.py
index ae61ff3e..45e6166d 100644
--- a/motrix_env_core/tests/test_registry.py
+++ b/motrix_env_core/tests/test_registry.py
@@ -88,13 +88,20 @@ def compile_reads(self, queries) -> PhysicsReadProgram:
 
 
 @pytest.fixture(autouse=True)
-def _restore_global_registry():
+def _restore_global_registry(monkeypatch):
     """Drop any envs/robots a test registers so they do not leak across tests.
 
     Several tests below register throwaway env/robot configs into the module-level
     registry. Without cleanup they leak into later tests (e.g. the robot-docs suite
     asserts the registered robot set matches its metadata) and into whole-repo runs.
     """
+    # Core unit tests must not depend on installed robot distributions.
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: ())
+    monkeypatch.setattr(registry, "_robots", {})
+    monkeypatch.setattr(registry, "_robots_discovered", False)
+    monkeypatch.setattr(registry, "_robots_discovering", False)
+    monkeypatch.setattr(registry, "_robot_entry_points", None)
+    monkeypatch.setattr(registry, "_completed_robot_entry_points", 0)
     envs_before = set(registry._envs)
     robots_before = set(registry._robots)
     yield
diff --git a/motrix_env_core/tests/test_robot_discovery.py b/motrix_env_core/tests/test_robot_discovery.py
new file mode 100644
index 00000000..152d9f35
--- /dev/null
+++ b/motrix_env_core/tests/test_robot_discovery.py
@@ -0,0 +1,203 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+from dataclasses import dataclass
+
+import pytest
+
+from motrix_env_core import registry
+from motrix_env_core.config import configclass
+from motrix_env_core.config.scene import MjcfFileCfg, RobotCfg
+
+
+@dataclass
+class FakeEntryPoint:
+    name: str
+    value: str
+    callback: object
+    loads: int = 0
+    load_error: Exception | None = None
+
+    def load(self):
+        self.loads += 1
+        if self.load_error is not None:
+            raise self.load_error
+        return self.callback
+
+
+@pytest.fixture(autouse=True)
+def isolated_robot_registry(monkeypatch):
+    monkeypatch.setattr(registry, "_robots", {})
+    monkeypatch.setattr(registry, "_robots_discovered", False)
+    monkeypatch.setattr(registry, "_robots_discovering", False)
+    monkeypatch.setattr(registry, "_robot_entry_points", None)
+    monkeypatch.setattr(registry, "_completed_robot_entry_points", 0)
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: ())
+
+
+@pytest.fixture
+def robot_type(tmp_path):
+    @configclass(kw_only=True)
+    class CustomRobotCfg(RobotCfg):
+        model: MjcfFileCfg = MjcfFileCfg(file=tmp_path / "robot.xml")
+        base_link_name: str = "base"
+
+        def validate(self, path="robot"):
+            self.validated_path = path
+
+    return CustomRobotCfg
+
+
+@pytest.mark.parametrize("query", ["make", "list"])
+def test_plugins_are_lazy_sorted_and_discovered_once(monkeypatch, robot_type, query):
+    calls = []
+    metadata_queries = []
+
+    def register_a():
+        calls.append("a")
+        registry.register_robot_config("plugin-a", robot_type)
+
+    def register_b():
+        calls.append("b")
+        registry.register_robot_config("plugin-b", robot_type)
+
+    a = FakeEntryPoint("a", "a:register", register_a)
+    b = FakeEntryPoint("b", "b:register", register_b)
+
+    def entry_points(*, group):
+        metadata_queries.append(group)
+        return [b, a]
+
+    monkeypatch.setattr(registry, "entry_points", entry_points)
+    registry.register_robot_config("manual", robot_type)
+    assert not metadata_queries
+    if query == "make":
+        registry.make_robot_config("plugin-a")
+    else:
+        registry.list_registered_robots()
+    first = registry.make_robot_config("plugin-a")
+    second = registry.make_robot_config("plugin-a")
+    assert first is not second
+    assert first.validated_path == "robot"
+    assert registry.list_registered_robots() == {
+        name: {"config_class": "CustomRobotCfg"} for name in ("manual", "plugin-a", "plugin-b")
+    }
+    assert metadata_queries == [registry.ROBOT_ENTRY_POINT_GROUP]
+    assert calls == ["a", "b"]
+    assert a.loads == b.loads == 1
+
+
+def test_no_plugins_supports_manual_registration_and_unknown_errors(robot_type):
+    assert registry.list_registered_robots() == {}
+    registry.register_robot_config("manual", robot_type)
+    assert isinstance(registry.make_robot_config("manual"), robot_type)
+    with pytest.raises(ValueError, match="already registered"):
+        registry.register_robot_config("manual", robot_type)
+    with pytest.raises(ValueError, match="not registered"):
+        registry.make_robot_config("unknown")
+
+
+def test_discovered_factory_preserves_validation_and_return_type_checks(monkeypatch, robot_type):
+    class InvalidRobotCfg(robot_type):
+        def validate(self, path="robot"):
+            raise ValueError("invalid robot")
+
+    def register():
+        registry.register_robot_config("wrong-result", lambda: object(), cfg_type=robot_type)
+        registry.register_robot_config("invalid", InvalidRobotCfg)
+
+    monkeypatch.setattr(
+        registry, "entry_points", lambda *, group: [FakeEntryPoint("custom", "custom:register", register)]
+    )
+    with pytest.raises(TypeError, match="config factory must return CustomRobotCfg"):
+        registry.make_robot_config("wrong-result")
+    with pytest.raises(ValueError):
+        registry.make_robot_config("invalid")
+
+
+@pytest.mark.parametrize("failure", ["load", "noncallable", "callback"])
+def test_plugin_errors_propagate_and_are_retried(monkeypatch, failure):
+    error = RuntimeError("plugin failed")
+
+    def fail():
+        raise error
+
+    ep = FakeEntryPoint("broken", "broken:register", fail)
+    if failure == "load":
+        ep.load_error = error
+    elif failure == "noncallable":
+        ep.callback = object()
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: [ep])
+    for _ in range(2):
+        if failure == "noncallable":
+            with pytest.raises(TypeError, match="Robot entry point 'broken' must load a callable"):
+                registry.list_registered_robots()
+        else:
+            with pytest.raises(RuntimeError) as caught:
+                registry.list_registered_robots()
+            assert caught.value is error
+        assert not registry._robots_discovered
+        assert not registry._robots_discovering
+    assert ep.loads == 2
+
+
+def test_retry_does_not_repeat_completed_callbacks(monkeypatch, robot_type):
+    def register_first():
+        registry.register_robot_config("first", robot_type)
+
+    def fail():
+        raise RuntimeError("try again")
+
+    first = FakeEntryPoint("a", "a:register", register_first)
+    second = FakeEntryPoint("b", "b:register", fail)
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: [first, second])
+    with pytest.raises(RuntimeError, match="try again"):
+        registry.list_registered_robots()
+    second.callback = lambda: registry.register_robot_config("second", robot_type)
+    assert set(registry.list_registered_robots()) == {"first", "second"}
+    assert first.loads == 1
+    assert second.loads == 2
+
+
+def test_failed_callback_registration_side_effects_are_not_rolled_back(monkeypatch, robot_type):
+    def fail_after_registering():
+        registry.register_robot_config("partial", robot_type)
+        raise RuntimeError("partial registration")
+
+    ep = FakeEntryPoint("partial", "partial:register", fail_after_registering)
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: [ep])
+    with pytest.raises(RuntimeError, match="partial registration"):
+        registry.list_registered_robots()
+    assert "partial" in registry._robots
+    # Plugins own recovery from partial registration; the registry is not transactional.
+    with pytest.raises(ValueError, match="already registered"):
+        registry.list_registered_robots()
+
+
+def test_identical_entry_point_declarations_are_not_silently_skipped(monkeypatch, robot_type):
+    def register():
+        registry.register_robot_config("duplicate", robot_type)
+
+    first = FakeEntryPoint("same", "same:register", register)
+    second = FakeEntryPoint("same", "same:register", register)
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: [first, second])
+    with pytest.raises(ValueError, match="already registered"):
+        registry.list_registered_robots()
+    assert first.loads == second.loads == 1
+
+
+def test_registration_callback_can_reenter_queries(monkeypatch, robot_type):
+    calls = []
+
+    def register():
+        calls.append("register")
+        assert registry.list_registered_robots() == {}
+        registry.register_robot_config("recursive", robot_type)
+        assert isinstance(registry.make_robot_config("recursive"), robot_type)
+        assert "recursive" in registry.list_registered_robots()
+
+    ep = FakeEntryPoint("recursive", "recursive:register", register)
+    monkeypatch.setattr(registry, "entry_points", lambda *, group: [ep])
+    assert "recursive" in registry.list_registered_robots()
+    assert calls == ["register"]
+    assert ep.loads == 1
diff --git a/motrix_envs/pyproject.toml b/motrix_envs/pyproject.toml
index b26b0b51..2a75a2e4 100644
--- a/motrix_envs/pyproject.toml
+++ b/motrix_envs/pyproject.toml
@@ -14,6 +14,7 @@ dependencies = [
     "gymnasium==1.1.1",
     "motrix-env-core[numba,video]",
     "motrix-env-motrixsim",
+    "motrix-robots",
     "numpy>=1.26",
     "omegaconf>=2.3,<2.4",
 ]
diff --git a/motrix_envs/src/motrix_envs/__init__.py b/motrix_envs/src/motrix_envs/__init__.py
index a8919bf2..3deeefd6 100644
--- a/motrix_envs/src/motrix_envs/__init__.py
+++ b/motrix_envs/src/motrix_envs/__init__.py
@@ -14,7 +14,7 @@ def register() -> None:
         return
     _registered = True
     try:
-        from motrix_envs import basic, locomotion, manipulation, robot  # noqa: F401
+        from motrix_envs import basic, locomotion, manipulation  # noqa: F401
     except Exception:
         _registered = False
         raise
diff --git a/motrix_envs/src/motrix_envs/deploy/go2_walk.py b/motrix_envs/src/motrix_envs/deploy/go2_walk.py
index cfafb4b3..f2733dd7 100644
--- a/motrix_envs/src/motrix_envs/deploy/go2_walk.py
+++ b/motrix_envs/src/motrix_envs/deploy/go2_walk.py
@@ -4,13 +4,13 @@
 """Compile Go2 walking environments into their deployment artifact contract."""
 
 import numpy as np
+from motrix_robots.unitree import UnitreeGo2Robot
 
 from motrix_deploy.artifact import ControlSpec, TaskSpec
 from motrix_deploy.profile import DeploymentProfile, register_profile_compiler
 from motrix_env_core import registry
 from motrix_envs.deploy.robot import build_robot_model, build_robot_spec, read_position_servo_gains
 from motrix_envs.locomotion.quadruped.cfg import QuadrupedWalkEnvCfg
-from motrix_envs.robot import UnitreeGo2Robot
 
 GO2_TASK_NAME = "go2_walk/v1"
 GO2_COMMAND_SCALES = {
diff --git a/motrix_envs/src/motrix_envs/locomotion/anymal_c/cfg.py b/motrix_envs/src/motrix_envs/locomotion/anymal_c/cfg.py
index 173e2371..d743c0b6 100644
--- a/motrix_envs/src/motrix_envs/locomotion/anymal_c/cfg.py
+++ b/motrix_envs/src/motrix_envs/locomotion/anymal_c/cfg.py
@@ -3,10 +3,12 @@
 
 import os
 
+from motrix_robots.anymal import AnymalC
+
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config import configclass
-from motrix_env_core.config.scene import SceneCfg
+from motrix_env_core.config.scene import SceneCfg, SceneObjsCfg
 from motrix_env_core.direct.env import DirectEnvCfg
 
 model_file = os.path.dirname(__file__) + "/xmls/scene.xml"
@@ -103,7 +105,7 @@ class AnymalCEnvCfg(DirectEnvCfg):
     zh_CN: 控制 ANYmal-C 在平地上朝目标位置导航。
     """
 
-    scene: SceneCfg = SceneCfg(file=model_file)
+    scene: SceneCfg = SceneCfg(file=model_file, objs=SceneObjsCfg(robot=AnymalC()))
     reset_noise_scale: float = 0.01
     max_episode_seconds: float = 7.0
     sim: SimCfg = SimCfg(dt=0.01)
diff --git a/motrix_envs/src/motrix_envs/locomotion/anymal_c/xmls/scene.xml b/motrix_envs/src/motrix_envs/locomotion/anymal_c/xmls/scene.xml
index 78be5ee1..19eec6c2 100644
--- a/motrix_envs/src/motrix_envs/locomotion/anymal_c/xmls/scene.xml
+++ b/motrix_envs/src/motrix_envs/locomotion/anymal_c/xmls/scene.xml
@@ -1,5 +1,4 @@
 <mujoco model="anymal_c scene">
-  <include file="../../../robot/assets/anymal_c/anymal_c.xml" />
 
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
diff --git a/motrix_envs/src/motrix_envs/locomotion/ball_balance/microduck.py b/motrix_envs/src/motrix_envs/locomotion/ball_balance/microduck.py
index dc30618b..b218a87b 100644
--- a/motrix_envs/src/motrix_envs/locomotion/ball_balance/microduck.py
+++ b/motrix_envs/src/motrix_envs/locomotion/ball_balance/microduck.py
@@ -5,6 +5,7 @@
 
 from pathlib import Path
 
+from motrix_robots.microduck import Microduck
 from omegaconf import MISSING
 
 from motrix_env_core import registry
@@ -80,7 +81,6 @@
     UndesiredContactsRewardCfg,
 )
 from motrix_envs.locomotion.wbt.mdp.terminations import BadDofPositionTerminationCfg
-from motrix_envs.robot import Microduck
 
 _BALL_ASSET_DIR = Path(__file__).parent / "assets"
 _BALL_RADIUS = 0.14
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/cfg.py b/motrix_envs/src/motrix_envs/locomotion/go1/cfg.py
index 2851f575..78049113 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/cfg.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/cfg.py
@@ -1,12 +1,14 @@
 # Copyright Motphys Technology Co., Ltd. 2025, 2026
 # SPDX-License-Identifier: Apache-2.0
 
-import os
+from pathlib import Path
+
+from motrix_robots.unitree import UNITREE_GO1_ASSET_DIR, UnitreeGo1Robot
 
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config import configclass
-from motrix_env_core.config.scene import SceneCfg
+from motrix_env_core.config.scene import MjcfFileCfg, SceneCfg, SceneObjsCfg
 from motrix_env_core.direct.env import DirectEnvCfg
 
 
@@ -135,7 +137,12 @@ class Go1WalkDirectStairsEnvCfg(Go1TerrainWalkDirectEnvCfg):
     """
 
     render_spacing: float = 0.0
-    scene: SceneCfg = SceneCfg(file=os.path.dirname(__file__) + "/xmls/scene_stairs_terrain.xml")
+    scene: SceneCfg = SceneCfg(
+        file=Path(__file__).parent / "xmls" / "scene_stairs_terrain.xml",
+        objs=SceneObjsCfg(
+            robot=UnitreeGo1Robot(model=MjcfFileCfg(file=UNITREE_GO1_ASSET_DIR / "go1_motor_actuator.xml"))
+        ),
+    )
     # Pinned to the scene's geom inventory (single hfield "floor"): the legacy
     # env matched ground/foot geoms by substring over exactly these names.
     # Foot contact-force sensors follow Sensor.feet order.
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/materials.xml b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/materials.xml
index 426352f7..f4f86e47 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/materials.xml
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/materials.xml
@@ -4,4 +4,4 @@
         <material name="motphys-ground" texture="motphys-ground" texuniform="true"
             texrepeat="0.4 0.4" />
     </asset>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_rough_terrain.xml b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_rough_terrain.xml
index 3891ee6a..63e6ec96 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_rough_terrain.xml
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_rough_terrain.xml
@@ -1,5 +1,4 @@
 <mujoco model="go1 feetonly rough terrain scene">
-  <include file="go1_motor_actuator.xml" />
   <include file="materials.xml" />
   <statistic center="0 0 0.1" extent="0.8" meansize="0.04" />
 
@@ -24,4 +23,4 @@
     <geom name="floor" pos="0 40 0" type="hfield" hfield="hfield-plane" material="motphys-ground"
       contype="1" conaffinity="0" priority="1" friction="0.6" />
   </worldbody>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_terrain.xml b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_terrain.xml
index fe97800f..3912409d 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_terrain.xml
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_terrain.xml
@@ -1,6 +1,8 @@
 <mujoco model="go1 stairs terrain scene">
-  <include file="go1_motor_actuator.xml" />
   <include file="materials.xml" />
+  <option timestep="0.005" integrator="Euler" iterations="60">
+    <flag eulerdamp="disable" />
+  </option>
   <statistic center="0 0 0.1" extent="0.8" meansize="0.04" />
 
   <visual>
@@ -29,4 +31,4 @@
     <contact name="RL_foot_contact" geom2="RL_foot" geom1="floor" data="normal" num="1" />
   </sensor>
 
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/motrix_envs/src/motrix_envs/locomotion/humanoid/cfg.py b/motrix_envs/src/motrix_envs/locomotion/humanoid/cfg.py
index 542cad2c..95ec53bc 100644
--- a/motrix_envs/src/motrix_envs/locomotion/humanoid/cfg.py
+++ b/motrix_envs/src/motrix_envs/locomotion/humanoid/cfg.py
@@ -12,6 +12,8 @@
 data those terms consume. No environment subclass is needed.
 """
 
+from motrix_robots.humanoid import HumanoidRobotCfg
+
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import (
@@ -71,7 +73,6 @@
     PenaltyOrientationRewardCfg,
     PoseRewardCfg,
 )
-from motrix_envs.robot import HumanoidRobotCfg
 
 
 @configclass
diff --git a/motrix_envs/src/motrix_envs/locomotion/humanoid/dex_evt.py b/motrix_envs/src/motrix_envs/locomotion/humanoid/dex_evt.py
index 5470921e..fad7bd4b 100644
--- a/motrix_envs/src/motrix_envs/locomotion/humanoid/dex_evt.py
+++ b/motrix_envs/src/motrix_envs/locomotion/humanoid/dex_evt.py
@@ -5,6 +5,8 @@
 
 from dataclasses import replace
 
+from motrix_robots.dex_evt import DexEvt
+
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config.scene import FlatTerrainCfg, HFieldTerrainCfg
@@ -26,7 +28,6 @@
     PenaltyCloseFeetXyRewardCfg,
     PoseRewardCfg,
 )
-from motrix_envs.robot import DexEvt
 
 # Pinned Dex-EVT termination collision inventory, owned by the Dex-EVT walk task.
 _DEX_EVT_TERMINATION_GEOMS = (
diff --git a/motrix_envs/src/motrix_envs/locomotion/humanoid/g1.py b/motrix_envs/src/motrix_envs/locomotion/humanoid/g1.py
index 7bdbc5b1..7b656d52 100644
--- a/motrix_envs/src/motrix_envs/locomotion/humanoid/g1.py
+++ b/motrix_envs/src/motrix_envs/locomotion/humanoid/g1.py
@@ -5,6 +5,8 @@
 
 from dataclasses import replace
 
+from motrix_robots.unitree import UnitreeG129Dof
+
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config.scene import HFieldTerrainCfg, SystemCameraCfg
@@ -29,7 +31,6 @@
     PenaltyCloseFeetXyRewardCfg,
     PoseRewardCfg,
 )
-from motrix_envs.robot import UnitreeG129Dof
 
 # Pinned G1 termination collision inventory, owned by the G1 walk task.
 _G1_TERMINATION_GEOMS = (
diff --git a/motrix_envs/src/motrix_envs/locomotion/humanoid/k1.py b/motrix_envs/src/motrix_envs/locomotion/humanoid/k1.py
index f4adca6d..f32d1141 100644
--- a/motrix_envs/src/motrix_envs/locomotion/humanoid/k1.py
+++ b/motrix_envs/src/motrix_envs/locomotion/humanoid/k1.py
@@ -5,6 +5,8 @@
 
 from dataclasses import replace
 
+from motrix_robots.booster import BoosterK1
+
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config.scene import HFieldTerrainCfg
@@ -26,7 +28,6 @@
     PenaltyCloseFeetXyRewardCfg,
     PoseRewardCfg,
 )
-from motrix_envs.robot import BoosterK1
 
 
 def _make_k1_robot() -> BoosterK1:
diff --git a/motrix_envs/src/motrix_envs/locomotion/humanoid/microduck.py b/motrix_envs/src/motrix_envs/locomotion/humanoid/microduck.py
index 606c7702..b6ee8d88 100644
--- a/motrix_envs/src/motrix_envs/locomotion/humanoid/microduck.py
+++ b/motrix_envs/src/motrix_envs/locomotion/humanoid/microduck.py
@@ -5,6 +5,8 @@
 
 from dataclasses import replace
 
+from motrix_robots.microduck import Microduck
+
 from motrix_env_core import registry
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config.scene import HFieldTerrainCfg, SystemCameraCfg
@@ -28,7 +30,6 @@
     PenaltyCloseFeetXyRewardCfg,
     PoseRewardCfg,
 )
-from motrix_envs.robot import Microduck
 
 
 def _make_microduck_robot() -> Microduck:
diff --git a/motrix_envs/src/motrix_envs/locomotion/quadruped/anymalc.py b/motrix_envs/src/motrix_envs/locomotion/quadruped/anymalc.py
index f74ec16e..69736c47 100644
--- a/motrix_envs/src/motrix_envs/locomotion/quadruped/anymalc.py
+++ b/motrix_envs/src/motrix_envs/locomotion/quadruped/anymalc.py
@@ -9,6 +9,8 @@
 into the robot file.
 """
 
+from motrix_robots.anymal import AnymalC
+
 from motrix_env_core import registry
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import (
@@ -30,7 +32,6 @@
     Sensor,
 )
 from motrix_envs.locomotion.quadruped.walk_np import QuadrupedWalkTask
-from motrix_envs.robot import AnymalC
 
 
 @configclass
diff --git a/motrix_envs/src/motrix_envs/locomotion/quadruped/cfg.py b/motrix_envs/src/motrix_envs/locomotion/quadruped/cfg.py
index 69957406..aff1ee44 100644
--- a/motrix_envs/src/motrix_envs/locomotion/quadruped/cfg.py
+++ b/motrix_envs/src/motrix_envs/locomotion/quadruped/cfg.py
@@ -6,6 +6,7 @@
 from dataclasses import replace
 
 import numpy as np
+from motrix_robots.quadruped import QuadrupedRobotCfg
 from numpy.typing import NDArray
 from omegaconf import MISSING
 
@@ -20,7 +21,6 @@
 )
 from motrix_env_core.direct.env import DirectEnvCfg
 from motrix_envs.config.scene import StandardSceneAssetsCfg, StandardSceneCfg
-from motrix_envs.robot import QuadrupedRobotCfg
 
 
 def _contact_sensor(geom_name: str | None) -> ContactSensorCfg:
diff --git a/motrix_envs/src/motrix_envs/locomotion/quadruped/go1.py b/motrix_envs/src/motrix_envs/locomotion/quadruped/go1.py
index 16df4c51..c41e9845 100644
--- a/motrix_envs/src/motrix_envs/locomotion/quadruped/go1.py
+++ b/motrix_envs/src/motrix_envs/locomotion/quadruped/go1.py
@@ -3,6 +3,8 @@
 
 """Go1 flat- and rough-terrain walk configuration and environment registration."""
 
+from motrix_robots.unitree import UnitreeGo1Robot
+
 from motrix_env_core import registry
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import FlatTerrainCfg, HFieldTerrainCfg
@@ -16,7 +18,6 @@
     RewardScales,
 )
 from motrix_envs.locomotion.quadruped.walk_np import QuadrupedWalkTask
-from motrix_envs.robot import UnitreeGo1Robot
 
 
 @registry.envcfg("go1-walk-flat")
diff --git a/motrix_envs/src/motrix_envs/locomotion/quadruped/go2.py b/motrix_envs/src/motrix_envs/locomotion/quadruped/go2.py
index 6f6d23ab..0d5c3ad4 100644
--- a/motrix_envs/src/motrix_envs/locomotion/quadruped/go2.py
+++ b/motrix_envs/src/motrix_envs/locomotion/quadruped/go2.py
@@ -6,6 +6,7 @@
 from dataclasses import replace
 
 import numpy as np
+from motrix_robots.unitree import UnitreeGo2Robot
 
 from motrix_env_core import registry
 from motrix_env_core.config import configclass
@@ -22,7 +23,6 @@
     VelocityCommandCfg,
 )
 from motrix_envs.locomotion.quadruped.walk_np import QuadrupedWalkTask
-from motrix_envs.robot import UnitreeGo2Robot
 
 
 @registry.envcfg("go2-walk-flat")
diff --git a/motrix_envs/src/motrix_envs/locomotion/quadruped/walk_np.py b/motrix_envs/src/motrix_envs/locomotion/quadruped/walk_np.py
index 45d05236..31c4dcbf 100644
--- a/motrix_envs/src/motrix_envs/locomotion/quadruped/walk_np.py
+++ b/motrix_envs/src/motrix_envs/locomotion/quadruped/walk_np.py
@@ -5,6 +5,7 @@
 
 import gymnasium as gym
 import numpy as np
+from motrix_robots.quadruped import QuadrupedRobotCfg
 
 from motrix_env_core.array.env import ArrayEnvState, NpObs
 from motrix_env_core.base import ObsSpace
@@ -40,7 +41,6 @@
 )
 from motrix_envs.locomotion.quadruped.cfg import QuadrupedWalkEnvCfg
 from motrix_envs.locomotion.quadruped.velocity_command import RandomPlanarVelocityBinding
-from motrix_envs.robot import QuadrupedRobotCfg
 
 
 def _sim_data_queries(cfg: QuadrupedWalkEnvCfg):
diff --git a/motrix_envs/src/motrix_envs/locomotion/wbt/dex_evt.py b/motrix_envs/src/motrix_envs/locomotion/wbt/dex_evt.py
index 08c470dc..1102f9ca 100644
--- a/motrix_envs/src/motrix_envs/locomotion/wbt/dex_evt.py
+++ b/motrix_envs/src/motrix_envs/locomotion/wbt/dex_evt.py
@@ -6,6 +6,8 @@
 from dataclasses import InitVar
 from pathlib import Path
 
+from motrix_robots.dex_evt import DexEvt
+
 from motrix_env_core import registry
 from motrix_env_core.base import EnvCfg, SimCfg
 from motrix_env_core.config import configclass
@@ -27,7 +29,6 @@
 from motrix_envs.locomotion.wbt.mdp.terminations import (
     BadBodyZTerminationCfg,
 )
-from motrix_envs.robot import DexEvt
 
 _MOTION_DIR = Path(__file__).parent / "assets" / "motion" / "dex_evt"
 _DEX_EVT_TRACKED_BODY_NAMES = (
diff --git a/motrix_envs/src/motrix_envs/locomotion/wbt/g1/backflip.py b/motrix_envs/src/motrix_envs/locomotion/wbt/g1/backflip.py
index 3bfe7e66..873dd94a 100644
--- a/motrix_envs/src/motrix_envs/locomotion/wbt/g1/backflip.py
+++ b/motrix_envs/src/motrix_envs/locomotion/wbt/g1/backflip.py
@@ -3,6 +3,8 @@
 
 """G1 backflip tracking task."""
 
+from motrix_robots.unitree import UnitreeG129Dof
+
 from motrix_env_core import registry
 from motrix_env_core.base import EnvCfg, SimCfg
 from motrix_env_core.config import configclass
@@ -25,7 +27,6 @@
     BadRefOrientationTerminationCfg,
     BadRefZTerminationCfg,
 )
-from motrix_envs.robot import UnitreeG129Dof
 
 from .common import MOTION_DIR, G1WbtEnvCfg
 
diff --git a/motrix_envs/src/motrix_envs/locomotion/wbt/g1/common.py b/motrix_envs/src/motrix_envs/locomotion/wbt/g1/common.py
index c07d56fe..662df59c 100644
--- a/motrix_envs/src/motrix_envs/locomotion/wbt/g1/common.py
+++ b/motrix_envs/src/motrix_envs/locomotion/wbt/g1/common.py
@@ -6,6 +6,8 @@
 from dataclasses import InitVar
 from pathlib import Path
 
+from motrix_robots.unitree import UnitreeG129Dof
+
 from motrix_env_core.base import SimCfg
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import SystemCameraCfg
@@ -15,7 +17,6 @@
 from motrix_envs.locomotion.wbt.cfg import CommandsCfg, RewardsCfg, TerminationsCfg, WbtEnvCfg
 from motrix_envs.locomotion.wbt.mdp.command import WbtMotionCommandCfg
 from motrix_envs.locomotion.wbt.mdp.terminations import BadBodyZTerminationCfg
-from motrix_envs.robot import UnitreeG129Dof
 
 MOTION_DIR = Path(__file__).resolve().parent.parent / "assets" / "motion" / "g1"
 G1_TRACKED_BODY_NAMES = (
diff --git a/motrix_envs/src/motrix_envs/locomotion/wbt/k1.py b/motrix_envs/src/motrix_envs/locomotion/wbt/k1.py
index 26b7ea44..fe6cfbca 100644
--- a/motrix_envs/src/motrix_envs/locomotion/wbt/k1.py
+++ b/motrix_envs/src/motrix_envs/locomotion/wbt/k1.py
@@ -6,6 +6,8 @@
 from dataclasses import InitVar
 from pathlib import Path
 
+from motrix_robots.booster import BoosterK1
+
 from motrix_env_core import registry
 from motrix_env_core.base import EnvCfg, SimCfg
 from motrix_env_core.config import configclass
@@ -24,7 +26,6 @@
 from motrix_envs.locomotion.wbt.mdp.terminations import (
     BadBodyZTerminationCfg,
 )
-from motrix_envs.robot import BoosterK1
 
 _MOTION_DIR = Path(__file__).parent / "assets" / "motion" / "k1"
 _K1_TRACKED_BODY_NAMES = (
diff --git a/motrix_envs/src/motrix_envs/motion/converters/lafan_converter.py b/motrix_envs/src/motrix_envs/motion/converters/lafan_converter.py
index 29b219e6..45aafdcf 100644
--- a/motrix_envs/src/motrix_envs/motion/converters/lafan_converter.py
+++ b/motrix_envs/src/motrix_envs/motion/converters/lafan_converter.py
@@ -32,10 +32,10 @@
 
 import motrixsim as mtx
 import numpy as np
+from motrix_robots.unitree import UNITREE_G1_ASSET_DIR
 
 from motrix_env_core.math import quaternion
 from motrix_envs.motion.schema import SCHEMA_VERSION
-from motrix_envs.robot.unitree import UNITREE_G1_ASSET_DIR
 
 # G1 joint order as stored in the CSV columns (dataset meta_data/info.json).
 G1_CSV_JOINT_ORDER = (
@@ -76,10 +76,10 @@
 
 
 def _default_model_file(robot: str) -> Path:
-    """Locate the MotrixSim scene xml shipped with the requested robot package."""
+    """Locate the robot-only MJCF used for forward kinematics."""
     if robot != "g1":
         raise ValueError(f"LAFAN converter only supports robot 'g1', got {robot!r}")
-    return UNITREE_G1_ASSET_DIR / "scene_g1_29dof.xml"
+    return UNITREE_G1_ASSET_DIR / "g1_29dof.xml"
 
 
 def _normalize(q: np.ndarray) -> np.ndarray:
diff --git a/motrix_envs/src/motrix_envs/robot/__init__.py b/motrix_envs/src/motrix_envs/robot/__init__.py
deleted file mode 100644
index 6419b86d..00000000
--- a/motrix_envs/src/motrix_envs/robot/__init__.py
+++ /dev/null
@@ -1,37 +0,0 @@
-# Copyright Motphys Technology Co., Ltd. 2025, 2026
-# SPDX-License-Identifier: Apache-2.0
-
-from motrix_env_core import registry
-from motrix_envs.robot.anymal import AnymalC
-from motrix_envs.robot.booster import BoosterK1
-from motrix_envs.robot.dex_evt import DexEvt
-from motrix_envs.robot.humanoid import HumanoidRobotCfg
-from motrix_envs.robot.microduck import Microduck
-from motrix_envs.robot.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
-from motrix_envs.robot.unitree import (
-    UnitreeG129Dof,
-    UnitreeGo1Robot,
-    UnitreeGo2Robot,
-)
-
-registry.robotcfg("anymal_c")(AnymalC)
-registry.robotcfg("dex-evt")(DexEvt)
-registry.robotcfg("g1-29dof")(UnitreeG129Dof)
-registry.robotcfg("go1")(UnitreeGo1Robot)
-registry.robotcfg("go2")(UnitreeGo2Robot)
-registry.robotcfg("k1")(BoosterK1)
-registry.robotcfg("microduck")(Microduck)
-
-__all__ = [
-    "AnymalC",
-    "BoosterK1",
-    "DexEvt",
-    "HumanoidRobotCfg",
-    "Microduck",
-    "QuadrupedLegCfg",
-    "QuadrupedLegsCfg",
-    "QuadrupedRobotCfg",
-    "UnitreeG129Dof",
-    "UnitreeGo1Robot",
-    "UnitreeGo2Robot",
-]
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/scene_dex_evt.xml b/motrix_envs/src/motrix_envs/robot/assets/dex_evt/scene_dex_evt.xml
deleted file mode 100644
index 7c03b2d0..00000000
--- a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/scene_dex_evt.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco model="dex_evt (tiangong2) flat terrain scene">
-  <include file="dex_evt.xml" />
-
-  <statistic center="0 0 0.5" extent="2.0" />
-  <option iterations="3" />
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <rgba haze="0.1 0.1 0.1 1" />
-    <global azimuth="120" elevation="-20" />
-  </visual>
-
-  <asset>
-    <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.4 0.4" rgb2="0 0 0"
-      width="512" height="512" />
-    <texture name="motphys-ground" type="2d" file="../../../common/motphys-ground.png" />
-    <material name="groundplane" texture="motphys-ground" texuniform="true" texrepeat="0.4 0.4" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1"
-      conaffinity="1" priority="1" friction="0.8" condim="3" />
-  </worldbody>
-
-  <keyframe>
-    <key name="home"
-      qpos="0 0 0.98 1 0 0 0
-      -0.25 0 0 0.5 -0.25 0
-      -0.25 0 0 0.5 -0.25 0
-      0 0 0
-      0 0.3 0 -0.3
-      0 -0.3 0 -0.3" />
-  </keyframe>
-</mujoco>
\ No newline at end of file
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/scene_g1_29dof.xml b/motrix_envs/src/motrix_envs/robot/assets/g1/scene_g1_29dof.xml
deleted file mode 100644
index d44a4db1..00000000
--- a/motrix_envs/src/motrix_envs/robot/assets/g1/scene_g1_29dof.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco model="g1_29dof flat terrain scene">
-  <include file="g1_29dof.xml" />
-
-  <statistic center="0 0 0.5" extent="2.0" />
-  <option iterations="3" />
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <rgba haze="0.1 0.1 0.1 1" />
-    <global azimuth="120" elevation="-20" />
-  </visual>
-
-  <asset>
-    <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.4 0.4" rgb2="0 0 0"
-      width="512" height="512" />
-    <texture name="motphys-ground" type="2d" file="../../../common/motphys-ground.png" />
-    <material name="groundplane" texture="motphys-ground" texuniform="true" texrepeat="0.4 0.4" />
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
-    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1"
-      conaffinity="1" priority="1" friction="1.0" condim="3" />
-  </worldbody>
-
-  <keyframe>
-    <key name="home"
-      qpos="0 0 0.793 1 0 0 0
-      -0.1 0 0 0.3 -0.2 0
-      -0.1 0 0 0.3 -0.2 0
-      0 0 0
-      0 0.2 0 0.9 0 0 0
-      0 -0.2 0 0.9 0 0 0" />
-  </keyframe>
-</mujoco>
\ No newline at end of file
diff --git a/motrix_envs/tests/test_deploy_profile.py b/motrix_envs/tests/test_deploy_profile.py
index 50621c28..0470ef9d 100644
--- a/motrix_envs/tests/test_deploy_profile.py
+++ b/motrix_envs/tests/test_deploy_profile.py
@@ -7,6 +7,7 @@
 
 import numpy as np
 import pytest
+from motrix_robots.unitree import UnitreeGo2Robot
 
 from motrix_env_core import registry
 from motrix_envs.deploy import build_deployment_profile, registered_profile_compilers
@@ -15,7 +16,6 @@
     build_robot_spec,
     resolve_joint_actuators_in_canonical_order,
 )
-from motrix_envs.robot import UnitreeGo2Robot
 
 
 @dataclass
diff --git a/motrix_envs/tests/test_lafan_converter.py b/motrix_envs/tests/test_lafan_converter.py
index a45a9339..811cf408 100644
--- a/motrix_envs/tests/test_lafan_converter.py
+++ b/motrix_envs/tests/test_lafan_converter.py
@@ -3,14 +3,14 @@
 
 import motrixsim as mtx
 import numpy as np
+from motrix_robots.unitree import UNITREE_G1_ASSET_DIR
 
 from motrix_envs.motion import MotrixMotion
 from motrix_envs.motion.converters.lafan_converter import G1_CSV_JOINT_ORDER, convert_lafan
-from motrix_envs.robot.unitree import UNITREE_G1_ASSET_DIR
 
 # G1 pelvis rest height (~0.79 m); keeps the synthetic root above ground.
 _ROOT_Z = 0.793
-_G1_MODEL_FILE = UNITREE_G1_ASSET_DIR / "scene_g1_29dof.xml"
+_G1_MODEL_FILE = UNITREE_G1_ASSET_DIR / "g1_29dof.xml"
 
 
 def _write_synthetic_csv(path, num_frames=12):
diff --git a/motrix_envs/tests/test_robot_cfg.py b/motrix_envs/tests/test_robot_cfg.py
index 64d7d99d..2cb75c9b 100644
--- a/motrix_envs/tests/test_robot_cfg.py
+++ b/motrix_envs/tests/test_robot_cfg.py
@@ -7,6 +7,20 @@
 
 import motrixsim as mtx
 import pytest
+from motrix_robots.anymal import ANYMAL_C_ASSET_DIR, AnymalC
+from motrix_robots.booster import BOOSTER_K1_ASSET_DIR, BoosterK1
+from motrix_robots.dex_evt import DEX_EVT_ASSET_DIR, DexEvt
+from motrix_robots.humanoid import HumanoidRobotCfg
+from motrix_robots.microduck import MICRODUCK_ASSET_DIR, Microduck
+from motrix_robots.quadruped import QuadrupedLegCfg, QuadrupedRobotCfg
+from motrix_robots.unitree import (
+    UNITREE_G1_ASSET_DIR,
+    UNITREE_GO1_ASSET_DIR,
+    UNITREE_GO2_ASSET_DIR,
+    UnitreeG129Dof,
+    UnitreeGo1Robot,
+    UnitreeGo2Robot,
+)
 
 from motrix_env_core import registry
 from motrix_env_core.config import configclass
@@ -22,23 +36,6 @@
 from motrix_env_motrixsim.compiler import build_scene_model
 from motrix_envs.config.scene import StandardSceneObjsCfg
 from motrix_envs.locomotion.quadruped.cfg import QuadrupedSceneCfg
-from motrix_envs.robot import (
-    AnymalC,
-    BoosterK1,
-    DexEvt,
-    HumanoidRobotCfg,
-    Microduck,
-    QuadrupedLegCfg,
-    QuadrupedRobotCfg,
-    UnitreeG129Dof,
-    UnitreeGo1Robot,
-    UnitreeGo2Robot,
-)
-from motrix_envs.robot.anymal import ANYMAL_C_ASSET_DIR
-from motrix_envs.robot.booster import BOOSTER_K1_ASSET_DIR
-from motrix_envs.robot.dex_evt import DEX_EVT_ASSET_DIR
-from motrix_envs.robot.microduck import MICRODUCK_ASSET_DIR
-from motrix_envs.robot.unitree import UNITREE_G1_ASSET_DIR, UNITREE_GO1_ASSET_DIR, UNITREE_GO2_ASSET_DIR
 
 
 @configclass
diff --git a/motrix_robots/README.md b/motrix_robots/README.md
new file mode 100644
index 00000000..30edb7a6
--- /dev/null
+++ b/motrix_robots/README.md
@@ -0,0 +1,79 @@
+# Motrix Robot Models
+
+`motrix-robots` provides reusable robot configurations, default poses, and model
+assets for simulation.
+
+## Simulation configuration
+
+```python
+from motrix_robots import Microduck, UnitreeGo2Robot
+from motrix_env_core.config.scene.base import RobotCfg
+
+microduck = Microduck()
+robot = UnitreeGo2Robot(prefix="robot_")
+robot.validate("robot")
+assert isinstance(robot, RobotCfg)
+assert robot.resolved_base_link_name == "robot_base"
+```
+
+Use `key_pose` for named joint poses and `init_key_pose` to select the initial pose.
+Resolve prefixed model names with `robot.resolve_name(name)`. Tasks supply the scene
+and choose their sensors.
+
+## Selecting built-in models by ID
+
+Installed robot packages are discovered automatically. Select a built-in model
+by its registered ID:
+
+```python
+from motrix_env_core.registry import make_robot_config
+
+robot = make_robot_config("go2")
+```
+
+The IDs are `anymal_c`, `g1-29dof`, `go1`, `go2`, `k1`, `dex-evt`, and `microduck`.
+
+## Programmatic actuator overrides
+
+`BodyCfg` (and therefore `RobotCfg`) owns format-neutral `actuators` for both MJCF
+and URDF models. `None` preserves imported actuators; a dictionary replaces the
+entire model instance's actuator set; `{}` removes all of them. Keys supply actuator
+names, so `ActuatorCfg` does not duplicate a `name` field. Override joint names are
+model-local, before prefix/suffix decoration. Other instances and source asset
+files are not modified.
+
+```python
+from motrix_env_core.config.scene.actuator import MotorActuatorCfg
+
+robot = UnitreeGo2Robot(
+    actuators={
+        "FL_hip_motor": MotorActuatorCfg(joint_name="FL_hip_joint", force_range=(-20.0, 20.0)),
+        # Declare the other controlled joints here: this replaces, not appends.
+    },
+)
+```
+
+`MotorActuatorCfg` declares unit-transmission direct effort. `PositionActuatorCfg`
+declares a native position servo using `kp`, absolute damping `kv`, and optional
+control/force ranges. Actuator order follows dictionary insertion order.
+Replacement resets keyframe actuator controls/activations while retaining joint
+poses and velocities. Dex-EVT declares its drives on the robot instance.
+
+## Model modules and assets
+
+Import these model classes and helpers directly from `motrix_robots`:
+
+| Defining module | Public configuration classes |
+| --- | --- |
+| `motrix_robots.unitree` | `UnitreeG129Dof`, `UnitreeGo1Robot`, `UnitreeGo2Robot` |
+| `motrix_robots.anymal` | `AnymalC` |
+| `motrix_robots.booster` | `BoosterK1` |
+| `motrix_robots.dex_evt` | `DexEvt` |
+| `motrix_robots.microduck` | `Microduck` |
+| `motrix_robots.quadruped` | `QuadrupedLegCfg`, `QuadrupedLegsCfg`, `QuadrupedRobotCfg` |
+| `motrix_robots.humanoid` | `HumanoidRobotCfg` |
+
+Bundled model descriptions, meshes, and model textures are under `src/motrix_robots/assets/`.
+Task scenes, ground textures, and terrain assets belong to `motrix_envs`. Asset licenses and attribution
+remain with their asset directories; see the root `THIRD_PARTY_NOTICES.md` for the
+release inventory.
diff --git a/motrix_robots/pyproject.toml b/motrix_robots/pyproject.toml
new file mode 100644
index 00000000..75e76db4
--- /dev/null
+++ b/motrix_robots/pyproject.toml
@@ -0,0 +1,19 @@
+[build-system]
+requires = ["uv_build>=0.11.23,<0.12"]
+build-backend = "uv_build"
+
+[project]
+name = "motrix-robots"
+version = "0.4.0b0"
+description = "Simulation robot configurations and model assets for MotrixLab."
+authors = [{ name = "Motphys", email = "developers@motphys.com" }]
+requires-python = "==3.10.*"
+readme = "README.md"
+license = "Apache-2.0"
+dependencies = ["motrix-env-core"]
+
+[project.entry-points."motrix_env_core.robots"]
+builtin = "motrix_robots.registration:register"
+
+[tool.uv.build-backend]
+module-name = "motrix_robots"
diff --git a/motrix_robots/src/motrix_robots/__init__.py b/motrix_robots/src/motrix_robots/__init__.py
new file mode 100644
index 00000000..42eb5143
--- /dev/null
+++ b/motrix_robots/src/motrix_robots/__init__.py
@@ -0,0 +1,31 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+"""Public simulation robot configuration types and model-owned assets.
+
+Import model types from this public API or their defining leaf modules.
+The core registry discovers builtin model IDs lazily through the installed
+robot plugin entry point. Scene placement remains application-owned.
+"""
+
+from motrix_robots.anymal import AnymalC
+from motrix_robots.booster import BoosterK1
+from motrix_robots.dex_evt import DexEvt
+from motrix_robots.humanoid import HumanoidRobotCfg
+from motrix_robots.microduck import Microduck
+from motrix_robots.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
+from motrix_robots.unitree import UnitreeG129Dof, UnitreeGo1Robot, UnitreeGo2Robot
+
+__all__ = [
+    "AnymalC",
+    "BoosterK1",
+    "DexEvt",
+    "HumanoidRobotCfg",
+    "Microduck",
+    "QuadrupedLegCfg",
+    "QuadrupedLegsCfg",
+    "QuadrupedRobotCfg",
+    "UnitreeG129Dof",
+    "UnitreeGo1Robot",
+    "UnitreeGo2Robot",
+]
diff --git a/motrix_envs/src/motrix_envs/robot/anymal.py b/motrix_robots/src/motrix_robots/anymal.py
similarity index 93%
rename from motrix_envs/src/motrix_envs/robot/anymal.py
rename to motrix_robots/src/motrix_robots/anymal.py
index 62475880..b6534e0d 100644
--- a/motrix_envs/src/motrix_envs/robot/anymal.py
+++ b/motrix_robots/src/motrix_robots/anymal.py
@@ -5,7 +5,7 @@
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
+from motrix_robots.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
 
 ANYMAL_C_ASSET_DIR = Path(__file__).parent / "assets" / "anymal_c"
 _ANYMAL_C_MJCF = ANYMAL_C_ASSET_DIR / "anymal_c.xml"
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/anymal_c.xml b/motrix_robots/src/motrix_robots/assets/anymal_c/anymal_c.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/anymal_c.xml
rename to motrix_robots/src/motrix_robots/assets/anymal_c/anymal_c.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_0.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_0.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_1.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_1.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_2.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_2.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_2.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_2.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_3.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_3.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_3.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_3.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_4.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_4.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_4.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_4.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_5.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_5.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/base_5.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/base_5.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/battery.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/battery.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/battery.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/battery.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/battery.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/battery.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/battery.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/battery.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/bottom_shell.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/bottom_shell.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/bottom_shell.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/bottom_shell.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/bottom_shell.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/bottom_shell.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/bottom_shell.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/bottom_shell.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/depth_camera.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/depth_camera.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/depth_camera.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/depth_camera.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/depth_camera.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/depth_camera.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/depth_camera.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/depth_camera.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/drive.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/drive.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/drive.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/drive.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/drive.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/drive.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/drive.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/drive.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/face.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/face.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/face.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/face.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/face.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/face.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/face.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/face.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/foot.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/foot.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/foot.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/foot.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/foot.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/foot.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/foot.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/foot.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/handle.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/handle.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/handle.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/handle.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/handle.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/handle.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/handle.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/handle.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hatch.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hatch.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hatch.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hatch.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hatch.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hatch.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hatch.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hatch.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_l.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_l.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_l.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_l.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_l.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_l.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_l.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_l.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_r.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_r.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_r.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_r.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_r.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_r.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/hip_r.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/hip_r.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar_cage.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar_cage.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar_cage.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar_cage.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar_cage.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar_cage.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/lidar_cage.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/lidar_cage.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/remote.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/remote.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/remote.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/remote.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/remote.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/remote.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/remote.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/remote.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_l.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_l.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_l.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_l.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_l.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_l.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_l.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_l.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_r.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_r.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_r.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_r.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_r.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_r.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/shank_r.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/shank_r.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/thigh.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/thigh.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/thigh.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/thigh.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/thigh.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/thigh.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/thigh.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/thigh.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/top_shell.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/top_shell.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/top_shell.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/top_shell.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/top_shell.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/top_shell.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/top_shell.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/top_shell.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/wide_angle_camera.obj b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/wide_angle_camera.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/wide_angle_camera.obj
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/wide_angle_camera.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/wide_angle_camera.png b/motrix_robots/src/motrix_robots/assets/anymal_c/assets/wide_angle_camera.png
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/anymal_c/assets/wide_angle_camera.png
rename to motrix_robots/src/motrix_robots/assets/anymal_c/assets/wide_angle_camera.png
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/dex_evt.urdf b/motrix_robots/src/motrix_robots/assets/dex_evt/dex_evt.urdf
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/dex_evt.urdf
rename to motrix_robots/src/motrix_robots/assets/dex_evt/dex_evt.urdf
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/dex_evt.xml b/motrix_robots/src/motrix_robots/assets/dex_evt/dex_evt.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/dex_evt.xml
rename to motrix_robots/src/motrix_robots/assets/dex_evt/dex_evt.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_roll_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_roll_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_roll_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_roll_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_roll_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_roll_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/ankle_roll_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/ankle_roll_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/camera_body_front_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/camera_body_front_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/camera_body_front_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/camera_body_front_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/camera_head_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/camera_head_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/camera_head_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/camera_head_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_yaw_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_yaw_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_yaw_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_yaw_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_yaw_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_yaw_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/elbow_yaw_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/elbow_yaw_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/head_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/head_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/head_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/head_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/head_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/head_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/head_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/head_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_roll_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_roll_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_roll_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_roll_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_roll_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_roll_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_roll_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_roll_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_yaw_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_yaw_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_yaw_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_yaw_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_yaw_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_yaw_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/hip_yaw_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/hip_yaw_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/imu_head_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/imu_head_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/imu_head_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/imu_head_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/imu_waist_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/imu_waist_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/imu_waist_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/imu_waist_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/knee_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/knee_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/knee_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/knee_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/knee_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/knee_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/knee_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/knee_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/left_tcp_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/left_tcp_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/left_tcp_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/left_tcp_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/pelvis.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/pelvis.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/pelvis.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/pelvis.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/radar_head_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/radar_head_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/radar_head_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/radar_head_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/right_tcp_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/right_tcp_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/right_tcp_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/right_tcp_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_roll_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_roll_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_roll_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_roll_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_roll_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_roll_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_roll_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_roll_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_yaw_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_yaw_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_yaw_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_yaw_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_yaw_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_yaw_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/shoulder_yaw_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/shoulder_yaw_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_roll_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/waist_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/waist_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_pitch_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_pitch_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_pitch_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_pitch_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_pitch_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_pitch_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_pitch_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_pitch_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_roll_l_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_roll_l_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_roll_l_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_roll_l_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_roll_r_link.STL b/motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_roll_r_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/dex_evt/meshes/wrist_roll_r_link.STL
rename to motrix_robots/src/motrix_robots/assets/dex_evt/meshes/wrist_roll_r_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/g1_29dof.xml b/motrix_robots/src/motrix_robots/assets/g1/g1_29dof.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/g1_29dof.xml
rename to motrix_robots/src/motrix_robots/assets/g1/g1_29dof.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/half_sphere.obj b/motrix_robots/src/motrix_robots/assets/g1/meshes/half_sphere.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/half_sphere.obj
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/half_sphere.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/head_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/head_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/head_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/head_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_G1_EE_pad.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_G1_EE_pad.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_G1_EE_pad.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_G1_EE_pad.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_ankle_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_ankle_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_ankle_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_ankle_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_ankle_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_ankle_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_ankle_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_ankle_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_elbow_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_elbow_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_elbow_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_elbow_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_elbow_link_merge.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_elbow_link_merge.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_elbow_link_merge.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_elbow_link_merge.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_index_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_index_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_index_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_index_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_index_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_index_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_index_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_index_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_middle_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_middle_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_middle_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_middle_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_middle_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_middle_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_middle_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_middle_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_palm_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_palm_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_palm_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_palm_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_2_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_2_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hand_thumb_2_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hand_thumb_2_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_hip_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_hip_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_knee_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_knee_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_knee_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_knee_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_rubber_hand.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_rubber_hand.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_rubber_hand.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_rubber_hand.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_shoulder_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_shoulder_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_roll_rubber_hand.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_roll_rubber_hand.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_roll_rubber_hand.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_roll_rubber_hand.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/left_wrist_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/left_wrist_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/logo_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/logo_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/logo_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/logo_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/pelvis.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/pelvis.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/pelvis.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/pelvis.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/pelvis_contour_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/pelvis_contour_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/pelvis_contour_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/pelvis_contour_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_G1_EE_pad.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_G1_EE_pad.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_G1_EE_pad.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_G1_EE_pad.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_ankle_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_ankle_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_ankle_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_ankle_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_ankle_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_ankle_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_ankle_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_ankle_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_elbow_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_elbow_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_elbow_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_elbow_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_elbow_link_merge.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_elbow_link_merge.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_elbow_link_merge.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_elbow_link_merge.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_index_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_index_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_index_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_index_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_index_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_index_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_index_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_index_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_middle_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_middle_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_middle_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_middle_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_middle_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_middle_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_middle_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_middle_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_palm_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_palm_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_palm_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_palm_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_0_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_0_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_0_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_0_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_1_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_1_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_1_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_1_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_2_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_2_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hand_thumb_2_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hand_thumb_2_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_hip_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_hip_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_knee_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_knee_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_knee_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_knee_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_rubber_hand.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_rubber_hand.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_rubber_hand.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_rubber_hand.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_shoulder_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_shoulder_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_pitch_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_pitch_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_pitch_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_pitch_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_roll_rubber_hand.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_roll_rubber_hand.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_roll_rubber_hand.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_roll_rubber_hand.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/right_wrist_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/right_wrist_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_L_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_L_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_L_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_L_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_L_rod_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_L_rod_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_L_rod_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_L_rod_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_R_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_R_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_R_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_R_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_R_rod_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_R_rod_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_constraint_R_rod_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_constraint_R_rod_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link_23dof_rev_1_0.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link_23dof_rev_1_0.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link_23dof_rev_1_0.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link_23dof_rev_1_0.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link_rev_1_0.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link_rev_1_0.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/torso_link_rev_1_0.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/torso_link_rev_1_0.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/tote_no_bar.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/tote_no_bar.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/tote_no_bar.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/tote_no_bar.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_constraint_L.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_constraint_L.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_constraint_L.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_constraint_L.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_constraint_R.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_constraint_R.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_constraint_R.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_constraint_R.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_roll_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_roll_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_roll_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_roll_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_roll_link_rev_1_0.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_roll_link_rev_1_0.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_roll_link_rev_1_0.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_roll_link_rev_1_0.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_support_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_support_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_support_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_support_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_yaw_link.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_yaw_link.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_yaw_link.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_yaw_link.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_yaw_link_rev_1_0.STL b/motrix_robots/src/motrix_robots/assets/g1/meshes/waist_yaw_link_rev_1_0.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/g1/meshes/waist_yaw_link_rev_1_0.STL
rename to motrix_robots/src/motrix_robots/assets/g1/meshes/waist_yaw_link_rev_1_0.STL
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/calf.stl b/motrix_robots/src/motrix_robots/assets/go1/assets/calf.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/calf.stl
rename to motrix_robots/src/motrix_robots/assets/go1/assets/calf.stl
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/hip.stl b/motrix_robots/src/motrix_robots/assets/go1/assets/hip.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/hip.stl
rename to motrix_robots/src/motrix_robots/assets/go1/assets/hip.stl
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/thigh.stl b/motrix_robots/src/motrix_robots/assets/go1/assets/thigh.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/thigh.stl
rename to motrix_robots/src/motrix_robots/assets/go1/assets/thigh.stl
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/thigh_mirror.stl b/motrix_robots/src/motrix_robots/assets/go1/assets/thigh_mirror.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/thigh_mirror.stl
rename to motrix_robots/src/motrix_robots/assets/go1/assets/thigh_mirror.stl
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/trunk.stl b/motrix_robots/src/motrix_robots/assets/go1/assets/trunk.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/assets/trunk.stl
rename to motrix_robots/src/motrix_robots/assets/go1/assets/trunk.stl
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1.xml b/motrix_robots/src/motrix_robots/assets/go1/go1.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1.xml
rename to motrix_robots/src/motrix_robots/assets/go1/go1.xml
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1_motor_actuator.xml b/motrix_robots/src/motrix_robots/assets/go1/go1_motor_actuator.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1_motor_actuator.xml
rename to motrix_robots/src/motrix_robots/assets/go1/go1_motor_actuator.xml
diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1_position_actuator.xml b/motrix_robots/src/motrix_robots/assets/go1/go1_position_actuator.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/locomotion/go1/xmls/go1_position_actuator.xml
rename to motrix_robots/src/motrix_robots/assets/go1/go1_position_actuator.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/base_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/base_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/base_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/base_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_2.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/base_2.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_2.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/base_2.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_3.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/base_3.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_3.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/base_3.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_4.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/base_4.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/base_4.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/base_4.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/calf_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/calf_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/calf_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/calf_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_mirror_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/calf_mirror_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_mirror_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/calf_mirror_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_mirror_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/calf_mirror_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/calf_mirror_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/calf_mirror_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/foot.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/foot.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/foot.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/foot.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/hip_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/hip_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/hip_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/hip_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/hip_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/hip_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/hip_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/hip_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/thigh_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/thigh_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/thigh_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/thigh_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_mirror_0.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/thigh_mirror_0.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_mirror_0.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/thigh_mirror_0.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_mirror_1.obj b/motrix_robots/src/motrix_robots/assets/go2/assets/thigh_mirror_1.obj
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/assets/thigh_mirror_1.obj
rename to motrix_robots/src/motrix_robots/assets/go2/assets/thigh_mirror_1.obj
diff --git a/motrix_envs/src/motrix_envs/robot/assets/go2/go2_mjx.xml b/motrix_robots/src/motrix_robots/assets/go2/go2_mjx.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/go2/go2_mjx.xml
rename to motrix_robots/src/motrix_robots/assets/go2/go2_mjx.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/k1_22dof.xml b/motrix_robots/src/motrix_robots/assets/k1/k1_22dof.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/k1_22dof.xml
rename to motrix_robots/src/motrix_robots/assets/k1/k1_22dof.xml
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Head_1.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Head_1.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Head_1.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Head_1.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Head_2.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Head_2.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Head_2.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Head_2.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/K1logo.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/K1logo.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/K1logo.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/K1logo.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Ankle_Cross.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Ankle_Cross.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Ankle_Cross.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Ankle_Cross.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_1.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_1.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_1.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_1.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_2.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_2.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_2.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_2.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_3.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_3.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_3.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_3.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_4.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_4.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Arm_4.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Arm_4.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Foot.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Foot.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Foot.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Foot.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Pitch.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Pitch.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Pitch.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Pitch.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Roll.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Roll.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Roll.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Roll.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Yaw.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Yaw.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Hip_Yaw.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Hip_Yaw.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Shank.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Shank.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Left_Shank.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Left_Shank.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Ankle_Cross.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Ankle_Cross.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Ankle_Cross.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Ankle_Cross.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_1.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_1.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_1.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_1.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_2.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_2.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_2.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_2.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_3.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_3.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_3.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_3.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_4.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_4.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Arm_4.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Arm_4.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Foot.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Foot.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Foot.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Foot.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Pitch.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Pitch.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Pitch.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Pitch.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Roll.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Roll.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Roll.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Roll.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Yaw.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Yaw.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Hip_Yaw.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Hip_Yaw.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Shank.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Shank.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Right_Shank.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Right_Shank.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Trunk.STL b/motrix_robots/src/motrix_robots/assets/k1/meshes/Trunk.STL
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/k1/meshes/Trunk.STL
rename to motrix_robots/src/motrix_robots/assets/k1/meshes/Trunk.STL
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/README.md b/motrix_robots/src/motrix_robots/assets/microduck/README.md
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/README.md
rename to motrix_robots/src/motrix_robots/assets/microduck/README.md
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/ankle_left.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/ankle_left.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/ankle_left.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/ankle_left.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/ankle_right.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/ankle_right.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/ankle_right.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/ankle_right.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/banana_pcb_locker.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/banana_pcb_locker.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/banana_pcb_locker.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/banana_pcb_locker.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/bearing_roll.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/bearing_roll.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/bearing_roll.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/bearing_roll.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/bottom_head_shell.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/bottom_head_shell.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/bottom_head_shell.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/bottom_head_shell.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/elec_rpi_robot_hat_pcb.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/elec_rpi_robot_hat_pcb.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/elec_rpi_robot_hat_pcb.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/elec_rpi_robot_hat_pcb.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/face_part.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/face_part.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/face_part.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/face_part.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/foot_left.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/foot_left.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/foot_left.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/foot_left.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/foot_right.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/foot_right.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/foot_right.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/foot_right.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/hip_l.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/hip_l.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/hip_l.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/hip_l.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/jaw.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/jaw.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/jaw.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/jaw.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/jaw_soft.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/jaw_soft.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/jaw_soft.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/jaw_soft.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/left_shell.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/left_shell.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/left_shell.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/left_shell.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/leg.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/leg.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/leg.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/leg.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/lens.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/lens.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/lens.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/lens.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/m12_lens_holder.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/m12_lens_holder.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/m12_lens_holder.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/m12_lens_holder.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/motor_support.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/motor_support.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/motor_support.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/motor_support.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/neck.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/neck.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/neck.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/neck.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/neck_pitch.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/neck_pitch.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/neck_pitch.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/neck_pitch.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/noenoeil.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/noenoeil.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/noenoeil.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/noenoeil.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/np_f970.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/np_f970.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/np_f970.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/np_f970.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/pcb__raspberry_pi_zero_2_w.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/pcb__raspberry_pi_zero_2_w.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/pcb__raspberry_pi_zero_2_w.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/pcb__raspberry_pi_zero_2_w.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/power_support.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/power_support.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/power_support.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/power_support.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/right_shell.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/right_shell.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/right_shell.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/right_shell.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/seeed_bearing__configuration__22x16x4.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/seeed_bearing__configuration__22x16x4.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/seeed_bearing__configuration__22x16x4.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/seeed_bearing__configuration__22x16x4.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/seeed_bearing__configuration_default.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/seeed_bearing__configuration_default.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/seeed_bearing__configuration_default.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/seeed_bearing__configuration_default.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/soft_mouth_top.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/soft_mouth_top.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/soft_mouth_top.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/soft_mouth_top.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_left.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/sole_left.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_left.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/sole_left.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_left_collision.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/sole_left_collision.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_left_collision.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/sole_left_collision.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_right.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/sole_right.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_right.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/sole_right.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_right_collision.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/sole_right_collision.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/sole_right_collision.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/sole_right_collision.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/speaker.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/speaker.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/speaker.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/speaker.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/top_head_shell.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/top_head_shell.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/top_head_shell.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/top_head_shell.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/trunk_base.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/trunk_base.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/trunk_base.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/trunk_base.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_left.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_left.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_left.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_left.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_right.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_right.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_right.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_right.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_rigidity_plate.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_rigidity_plate.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/upper_leg_rigidity_plate.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/upper_leg_rigidity_plate.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/xl330.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/xl330.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/xl330.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/xl330.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/yaw2roll.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/yaw2roll.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/yaw2roll.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/yaw2roll.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/assets/yaw_roll_motion.stl b/motrix_robots/src/motrix_robots/assets/microduck/assets/yaw_roll_motion.stl
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/assets/yaw_roll_motion.stl
rename to motrix_robots/src/motrix_robots/assets/microduck/assets/yaw_roll_motion.stl
diff --git a/motrix_envs/src/motrix_envs/robot/assets/microduck/microduck.xml b/motrix_robots/src/motrix_robots/assets/microduck/microduck.xml
similarity index 100%
rename from motrix_envs/src/motrix_envs/robot/assets/microduck/microduck.xml
rename to motrix_robots/src/motrix_robots/assets/microduck/microduck.xml
diff --git a/motrix_envs/src/motrix_envs/robot/booster.py b/motrix_robots/src/motrix_robots/booster.py
similarity index 97%
rename from motrix_envs/src/motrix_envs/robot/booster.py
rename to motrix_robots/src/motrix_robots/booster.py
index 73a4bb46..44d3a5e5 100644
--- a/motrix_envs/src/motrix_envs/robot/booster.py
+++ b/motrix_robots/src/motrix_robots/booster.py
@@ -5,7 +5,7 @@
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot.humanoid import HumanoidRobotCfg
+from motrix_robots.humanoid import HumanoidRobotCfg
 
 BOOSTER_K1_ASSET_DIR = Path(__file__).parent / "assets" / "k1"
 _K1_22DOF_MJCF = BOOSTER_K1_ASSET_DIR / "k1_22dof.xml"
diff --git a/motrix_envs/src/motrix_envs/robot/dex_evt.py b/motrix_robots/src/motrix_robots/dex_evt.py
similarity index 83%
rename from motrix_envs/src/motrix_envs/robot/dex_evt.py
rename to motrix_robots/src/motrix_robots/dex_evt.py
index 8ef01b38..a43dd66b 100644
--- a/motrix_envs/src/motrix_envs/robot/dex_evt.py
+++ b/motrix_robots/src/motrix_robots/dex_evt.py
@@ -12,7 +12,7 @@
     UrdfFileCfg,
     UrdfGeomCfg,
 )
-from motrix_envs.robot.humanoid import HumanoidRobotCfg
+from motrix_robots.humanoid import HumanoidRobotCfg
 
 DEX_EVT_ASSET_DIR = Path(__file__).parent / "assets" / "dex_evt"
 _DEX_EVT_URDF = DEX_EVT_ASSET_DIR / "dex_evt.urdf"
@@ -121,7 +121,31 @@ class DexEvt(HumanoidRobotCfg):
     right_foot_link_name: str = "ankle_roll_r_link"
     translation: tuple[float, float, float] | None = (0.0, 0.0, 0.95)
     key_pose: KeyPoseCfg = KeyPoseCfg(
-        joint_names=list(_DRIVE_PARAMS),
+        joint_names=[
+            "hip_pitch_l_joint",
+            "hip_roll_l_joint",
+            "hip_yaw_l_joint",
+            "knee_pitch_l_joint",
+            "ankle_pitch_l_joint",
+            "ankle_roll_l_joint",
+            "hip_pitch_r_joint",
+            "hip_roll_r_joint",
+            "hip_yaw_r_joint",
+            "knee_pitch_r_joint",
+            "ankle_pitch_r_joint",
+            "ankle_roll_r_joint",
+            "waist_yaw_joint",
+            "waist_roll_joint",
+            "waist_pitch_joint",
+            "shoulder_pitch_l_joint",
+            "shoulder_roll_l_joint",
+            "shoulder_yaw_l_joint",
+            "elbow_pitch_l_joint",
+            "shoulder_pitch_r_joint",
+            "shoulder_roll_r_joint",
+            "shoulder_yaw_r_joint",
+            "elbow_pitch_r_joint",
+        ],
         poses={
             "default": [
                 -0.25,
diff --git a/motrix_envs/src/motrix_envs/robot/humanoid.py b/motrix_robots/src/motrix_robots/humanoid.py
similarity index 95%
rename from motrix_envs/src/motrix_envs/robot/humanoid.py
rename to motrix_robots/src/motrix_robots/humanoid.py
index 5b0e7069..662bfe38 100644
--- a/motrix_envs/src/motrix_envs/robot/humanoid.py
+++ b/motrix_robots/src/motrix_robots/humanoid.py
@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from motrix_env_core.config import configclass
-from motrix_env_core.config.scene import RobotCfg
+from motrix_env_core.config.scene.base import RobotCfg
 
 
 @configclass(kw_only=True)
diff --git a/motrix_envs/src/motrix_envs/robot/microduck.py b/motrix_robots/src/motrix_robots/microduck.py
similarity index 91%
rename from motrix_envs/src/motrix_envs/robot/microduck.py
rename to motrix_robots/src/motrix_robots/microduck.py
index 808d74ce..758430aa 100644
--- a/motrix_envs/src/motrix_envs/robot/microduck.py
+++ b/motrix_robots/src/motrix_robots/microduck.py
@@ -5,7 +5,7 @@
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot.humanoid import HumanoidRobotCfg
+from motrix_robots.humanoid import HumanoidRobotCfg
 
 MICRODUCK_ASSET_DIR = Path(__file__).parent / "assets" / "microduck"
 _MICRODUCK_MJCF = MICRODUCK_ASSET_DIR / "microduck.xml"
@@ -41,7 +41,7 @@ class Microduck(HumanoidRobotCfg):
             "right_ankle",
         ],
         poses={
-            # Upstream keyframe "STAND" (trunk at z=0.12).
+            # Upstream keyframe "STAND".
             "default": [
                 0.0,
                 -0.08726646259971647,
@@ -58,7 +58,7 @@ class Microduck(HumanoidRobotCfg):
                 0.004940,
                 -0.452984,
             ],
-            # Upstream keyframe "SIT" (trunk at z=0.07).
+            # Upstream keyframe "SIT".
             "sit": [
                 0.0,
                 0.0,
@@ -75,7 +75,7 @@ class Microduck(HumanoidRobotCfg):
                 -1.0472,
                 0.0,
             ],
-            # Upstream keyframe "FOLD" (trunk at z=0.07).
+            # Upstream keyframe "FOLD".
             "fold": [
                 0.0,
                 0.0,
diff --git a/motrix_envs/src/motrix_envs/robot/quadruped.py b/motrix_robots/src/motrix_robots/quadruped.py
similarity index 97%
rename from motrix_envs/src/motrix_envs/robot/quadruped.py
rename to motrix_robots/src/motrix_robots/quadruped.py
index dd57fa97..96d93ec5 100644
--- a/motrix_envs/src/motrix_envs/robot/quadruped.py
+++ b/motrix_robots/src/motrix_robots/quadruped.py
@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from motrix_env_core.config import configclass
-from motrix_env_core.config.scene import RobotCfg
+from motrix_env_core.config.scene.base import RobotCfg
 
 
 @configclass(kw_only=True)
diff --git a/motrix_robots/src/motrix_robots/registration.py b/motrix_robots/src/motrix_robots/registration.py
new file mode 100644
index 00000000..06895d8a
--- /dev/null
+++ b/motrix_robots/src/motrix_robots/registration.py
@@ -0,0 +1,30 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+"""Builtin model registration callback for ``motrix_env_core.robots`` discovery.
+
+Importing this module only loads model classes. The core registry invokes
+:func:`register` lazily when an application first queries robots by ID.
+"""
+
+from motrix_env_core import registry
+from motrix_robots.anymal import AnymalC
+from motrix_robots.booster import BoosterK1
+from motrix_robots.dex_evt import DexEvt
+from motrix_robots.microduck import Microduck
+from motrix_robots.unitree import (
+    UnitreeG129Dof,
+    UnitreeGo1Robot,
+    UnitreeGo2Robot,
+)
+
+
+def register() -> None:
+    """Register the seven established builtin simulation robot IDs."""
+    registry.register_robot_config("anymal_c", AnymalC)
+    registry.register_robot_config("dex-evt", DexEvt)
+    registry.register_robot_config("g1-29dof", UnitreeG129Dof)
+    registry.register_robot_config("go1", UnitreeGo1Robot)
+    registry.register_robot_config("go2", UnitreeGo2Robot)
+    registry.register_robot_config("k1", BoosterK1)
+    registry.register_robot_config("microduck", Microduck)
diff --git a/motrix_envs/src/motrix_envs/robot/unitree.py b/motrix_robots/src/motrix_robots/unitree.py
similarity index 95%
rename from motrix_envs/src/motrix_envs/robot/unitree.py
rename to motrix_robots/src/motrix_robots/unitree.py
index bfe1a1fa..f095bf11 100644
--- a/motrix_envs/src/motrix_envs/robot/unitree.py
+++ b/motrix_robots/src/motrix_robots/unitree.py
@@ -5,11 +5,11 @@
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import KeyPoseCfg, MjcfFileCfg
-from motrix_envs.robot.humanoid import HumanoidRobotCfg
-from motrix_envs.robot.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
+from motrix_robots.humanoid import HumanoidRobotCfg
+from motrix_robots.quadruped import QuadrupedLegCfg, QuadrupedLegsCfg, QuadrupedRobotCfg
 
 UNITREE_G1_ASSET_DIR = Path(__file__).parent / "assets" / "g1"
-UNITREE_GO1_ASSET_DIR = Path(__file__).parents[1] / "locomotion" / "go1" / "xmls"
+UNITREE_GO1_ASSET_DIR = Path(__file__).parent / "assets" / "go1"
 UNITREE_GO2_ASSET_DIR = Path(__file__).parent / "assets" / "go2"
 _G1_29DOF_MJCF = UNITREE_G1_ASSET_DIR / "g1_29dof.xml"
 _GO1_MJCF = UNITREE_GO1_ASSET_DIR / "go1_position_actuator.xml"
diff --git a/motrix_robots/tests/test_assets.py b/motrix_robots/tests/test_assets.py
new file mode 100644
index 00000000..418f9118
--- /dev/null
+++ b/motrix_robots/tests/test_assets.py
@@ -0,0 +1,46 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+"""Robot model references form a self-contained package asset closure."""
+
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+from motrix_robots.anymal import AnymalC
+from motrix_robots.booster import BoosterK1
+from motrix_robots.dex_evt import DexEvt
+from motrix_robots.microduck import Microduck
+from motrix_robots.unitree import UnitreeG129Dof, UnitreeGo1Robot, UnitreeGo2Robot
+
+
+def test_builtin_models_resolve_from_package_assets() -> None:
+    for robot_type in (AnymalC, BoosterK1, DexEvt, Microduck, UnitreeG129Dof, UnitreeGo1Robot, UnitreeGo2Robot):
+        robot = robot_type()
+        robot.validate("robot")
+        assert Path(robot.model.file).is_file()
+        assert len(robot.key_pose.poses[robot.init_key_pose]) == len(robot.key_pose.joint_names)
+
+
+def test_bundled_mjcf_file_references_resolve() -> None:
+    asset_root = Path(UnitreeGo2Robot().model.file).parents[1]
+    for model in asset_root.rglob("*.xml"):
+        root = ET.parse(model).getroot()
+        if root.tag != "mujoco":
+            continue
+        compiler = root.find("compiler")
+        meshdir = compiler.get("meshdir", "") if compiler is not None else ""
+        texturedir = compiler.get("texturedir", "") if compiler is not None else ""
+        for element in root.iter():
+            file = element.get("file")
+            if file is None:
+                continue
+            directory = meshdir if element.tag == "mesh" else texturedir if element.tag == "texture" else ""
+            assert (model.parent / directory / file).is_file(), (model, element.tag, file)
+
+
+def test_bundled_urdf_mesh_references_resolve() -> None:
+    asset_root = Path(UnitreeGo2Robot().model.file).parents[1]
+    for model in asset_root.rglob("*.urdf"):
+        root = ET.parse(model).getroot()
+        for mesh in root.iter("mesh"):
+            assert (model.parent / mesh.attrib["filename"]).is_file(), (model, mesh.attrib["filename"])
diff --git a/motrix_robots/tests/test_robots_contracts.py b/motrix_robots/tests/test_robots_contracts.py
new file mode 100644
index 00000000..07ea9192
--- /dev/null
+++ b/motrix_robots/tests/test_robots_contracts.py
@@ -0,0 +1,155 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+from copy import deepcopy
+from importlib import import_module
+
+import pytest
+from hydra.utils import instantiate
+from motrix_robots.anymal import AnymalC
+from motrix_robots.booster import BoosterK1
+from motrix_robots.dex_evt import DexEvt
+from motrix_robots.microduck import Microduck
+from motrix_robots.unitree import UnitreeG129Dof, UnitreeGo1Robot, UnitreeGo2Robot
+from omegaconf import OmegaConf
+
+import motrix_robots
+from motrix_env_core.config.scene import KeyPoseCfg
+from motrix_env_core.config.scene.actuator import MotorActuatorCfg
+from motrix_env_core.config.scene.base import RobotCfg
+
+MODEL_TYPES = [AnymalC, BoosterK1, DexEvt, Microduck, UnitreeG129Dof, UnitreeGo1Robot, UnitreeGo2Robot]
+
+
+@pytest.mark.parametrize(
+    ("module_name", "type_name"),
+    [
+        ("anymal", "AnymalC"),
+        ("booster", "BoosterK1"),
+        ("dex_evt", "DexEvt"),
+        ("humanoid", "HumanoidRobotCfg"),
+        ("microduck", "Microduck"),
+        ("quadruped", "QuadrupedLegCfg"),
+        ("quadruped", "QuadrupedLegsCfg"),
+        ("quadruped", "QuadrupedRobotCfg"),
+        ("unitree", "UnitreeG129Dof"),
+        ("unitree", "UnitreeGo1Robot"),
+        ("unitree", "UnitreeGo2Robot"),
+    ],
+)
+def test_public_types_are_their_defining_module_types(module_name, type_name) -> None:
+    defining_module = import_module(f"motrix_robots.{module_name}")
+    assert getattr(motrix_robots, type_name) is getattr(defining_module, type_name)
+    assert type_name in motrix_robots.__all__
+
+
+@pytest.mark.parametrize("model_type", MODEL_TYPES)
+def test_public_model_constructors_return_fresh_configurations(model_type) -> None:
+    public_type = getattr(motrix_robots, model_type.__name__)
+    first = public_type()
+    second = public_type()
+    first.validate("robot")
+    second.validate("robot")
+    assert isinstance(first, model_type)
+    assert first is not second
+    assert first.model is not second.model
+    assert first.key_pose is not second.key_pose
+
+
+@pytest.mark.parametrize("model_type", MODEL_TYPES)
+@pytest.mark.parametrize("copy_kind", ["fresh", "deepcopy", "omegaconf"])
+def test_model_owned_key_poses_are_valid_and_isolated(model_type, copy_kind) -> None:
+    robot = model_type()
+    assert isinstance(robot, RobotCfg)
+    assert isinstance(robot.key_pose, KeyPoseCfg)
+    robot.validate("robot")
+    assert robot.key_pose.joint_names
+    assert robot.init_key_pose in robot.key_pose.poses
+
+    cfg = OmegaConf.structured(robot) if copy_kind == "omegaconf" else None
+    if copy_kind == "fresh":
+        copied = model_type()
+    elif copy_kind == "deepcopy":
+        copied = deepcopy(robot)
+    else:
+        copied = OmegaConf.to_object(cfg)
+    assert isinstance(copied, model_type)
+    copied.validate("robot")
+    assert copied.key_pose == robot.key_pose
+    assert copied.key_pose is not robot.key_pose
+    assert copied.key_pose.joint_names is not robot.key_pose.joint_names
+    assert copied.key_pose.poses is not robot.key_pose.poses
+    for name, pose in copied.key_pose.poses.items():
+        assert pose is not robot.key_pose.poses[name]
+        pose[0] += 1.0
+    copied.key_pose.joint_names[0] = "custom_joint"
+    copied.key_pose.poses["custom"] = list(copied.key_pose.poses[copied.init_key_pose])
+    assert robot.key_pose == model_type().key_pose
+    if cfg is not None:
+        assert OmegaConf.to_object(cfg).key_pose == robot.key_pose
+
+
+def test_builtin_model_inherits_scene_placement_and_actuator_contract() -> None:
+    actuator = MotorActuatorCfg(joint_name="hinge", force_range=(-2.0, 2.0))
+    robot = UnitreeGo2Robot(
+        prefix="robot_",
+        suffix="_1",
+        translation=(1.0, 2.0, 3.0),
+        actuators={"hinge_motor": actuator},
+    )
+    assert isinstance(robot, RobotCfg)
+    assert robot.resolved_base_link_name == robot.resolve_name(robot.base_link_name)
+    assert robot.resolve_name(actuator.joint_name) == "robot_hinge_1"
+    restored = OmegaConf.to_object(OmegaConf.structured(robot))
+    restored.validate("robot")
+    assert tuple(restored.translation) == robot.translation
+    assert isinstance(restored.actuators["hinge_motor"], MotorActuatorCfg)
+    assert restored.actuators["hinge_motor"].joint_name == actuator.joint_name
+    assert tuple(restored.actuators["hinge_motor"].force_range) == actuator.force_range
+    restored.actuators["hinge_motor"].joint_name = "custom_hinge"
+    assert robot.actuators["hinge_motor"].joint_name == "hinge"
+
+
+def test_scene_pose_override_and_hydra_composition() -> None:
+    override = KeyPoseCfg(joint_names=["hinge"], poses={"default": [0.2]})
+    robot = UnitreeGo2Robot(key_pose=override)
+    assert robot.key_pose is override
+    robot.validate("robot")
+    assert OmegaConf.to_object(OmegaConf.structured(robot)).key_pose == override
+    composed = instantiate(
+        {
+            "_target_": "motrix_robots.unitree.UnitreeGo2Robot",
+            "key_pose": {
+                "_target_": "motrix_env_core.config.scene.KeyPoseCfg",
+                "joint_names": ["hinge"],
+                "poses": {"default": [0.3]},
+            },
+        }
+    )
+    assert composed.key_pose == KeyPoseCfg(joint_names=["hinge"], poses={"default": [0.3]})
+    composed.validate("robot")
+
+
+def test_omegaconf_custom_key_pose_override() -> None:
+    original = UnitreeGo2Robot()
+    cfg = OmegaConf.structured(original)
+    cfg.key_pose = OmegaConf.structured(KeyPoseCfg(joint_names=["custom_hinge"], poses={"custom": [0.4]}))
+    cfg.init_key_pose = "custom"
+    restored = OmegaConf.to_object(cfg)
+    assert isinstance(restored, UnitreeGo2Robot)
+    assert restored.key_pose == KeyPoseCfg(joint_names=["custom_hinge"], poses={"custom": [0.4]})
+    restored.validate("robot")
+    restored.key_pose.poses["custom"][0] += 1.0
+    assert original.key_pose == UnitreeGo2Robot().key_pose
+    assert cfg.key_pose.poses.custom == [0.4]
+
+
+def test_explicit_empty_key_pose_is_preserved() -> None:
+    empty = KeyPoseCfg()
+    robot = UnitreeGo2Robot(key_pose=empty)
+    assert robot.key_pose is empty
+    assert robot.key_pose == KeyPoseCfg()
+    robot.validate("robot")
+    restored = OmegaConf.to_object(OmegaConf.structured(robot))
+    assert restored.key_pose == empty
+    restored.validate("robot")
diff --git a/motrix_robots/tests/test_robots_package.py b/motrix_robots/tests/test_robots_package.py
new file mode 100644
index 00000000..24948260
--- /dev/null
+++ b/motrix_robots/tests/test_robots_package.py
@@ -0,0 +1,100 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+"""Simulation model package boundaries and installed asset closure."""
+
+import subprocess
+import sys
+import textwrap
+
+
+def test_model_imports_do_not_read_or_scan_assets() -> None:
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            textwrap.dedent(
+                """
+                import sys
+
+                def check_asset_access(event, args):
+                    if event in ('open', 'os.scandir', 'os.listdir'):
+                        path = str(args[0]).replace('\\\\', '/')
+                        assert '/motrix_robots/assets' not in path, (event, path)
+                        assert '/motrix_robots/common' not in path, (event, path)
+
+                sys.addaudithook(check_asset_access)
+                from motrix_env_core import registry
+                import motrix_robots
+                from motrix_robots.unitree import UnitreeGo2Robot
+                import motrix_robots.registration
+                UnitreeGo2Robot()
+                assert not registry._robots
+                assert not registry._robots_discovered
+                """
+            ),
+        ],
+        capture_output=True,
+        text=True,
+    )
+    assert result.returncode == 0, result.stderr
+
+
+def test_builtin_import_does_not_load_training_or_simulators() -> None:
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            "from motrix_robots.unitree import UnitreeGo2Robot; "
+            "import sys; "
+            "assert not any(name in sys.modules for name in "
+            "('motrix_envs', 'motrixsim', 'mujoco', 'torch', 'motrix_deploy', 'unitree_sdk2py')); "
+            "UnitreeGo2Robot().validate('robot')",
+        ],
+        capture_output=True,
+        text=True,
+    )
+    assert result.returncode == 0, result.stderr
+
+
+def test_installed_plugin_discovers_builtin_models_without_explicit_imports() -> None:
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            textwrap.dedent(
+                """
+                import sys
+
+                from motrix_env_core import registry
+                assert 'motrix_robots' not in sys.modules
+                expected_types = {
+                    'anymal_c': 'AnymalC',
+                    'dex-evt': 'DexEvt',
+                    'g1-29dof': 'UnitreeG129Dof',
+                    'go1': 'UnitreeGo1Robot',
+                    'go2': 'UnitreeGo2Robot',
+                    'k1': 'BoosterK1',
+                    'microduck': 'Microduck',
+                }
+                # A make lookup alone must discover the installed wheel entry point.
+                first = registry.make_robot_config('go2')
+                registered = registry.list_registered_robots()
+                assert expected_types.keys() <= registered.keys()
+                for name, expected_type in expected_types.items():
+                    robot = registry.make_robot_config(name)
+                    assert type(robot).__name__ == expected_type
+                    assert registered[name]['config_class'] == expected_type
+                    assert registry.make_robot_config(name) is not robot
+                assert registry.make_robot_config('go2') is not first
+                assert not any(name in sys.modules for name in (
+                    'motrix_envs', 'motrixsim', 'mujoco', 'torch',
+                    'motrix_deploy', 'unitree_sdk2py',
+                ))
+                """
+            ),
+        ],
+        capture_output=True,
+        text=True,
+    )
+    assert result.returncode == 0, result.stderr
diff --git a/pyproject.toml b/pyproject.toml
index 96b1192e..c6099c89 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -74,6 +74,7 @@ test = [
 
 [tool.uv.workspace]
 members = [
+    "motrix_robots",
     "motrix_deploy",
     "motrix_deploy_mujoco",
     "motrix_deploy_unitree",
@@ -116,6 +117,7 @@ name = "pypi"
 url = "https://pypi.org/simple"
 
 [tool.uv.sources]
+motrix-robots = { workspace = true }
 motrix-env-core = { workspace = true }
 motrix-deploy = { workspace = true }
 motrix-deploy-mujoco = { workspace = true }
diff --git a/scripts/motion/replay.py b/scripts/motion/replay.py
index 66a408c1..7852472e 100644
--- a/scripts/motion/replay.py
+++ b/scripts/motion/replay.py
@@ -23,6 +23,9 @@
 import motrixsim as mtx
 import numpy as np
 from absl import app, flags
+from motrix_robots.booster import BoosterK1
+from motrix_robots.dex_evt import DexEvt
+from motrix_robots.unitree import UnitreeG129Dof
 from motrixsim.render import RenderApp, RenderClosedError, RenderSettings
 
 from motrix_env_core.config.scene import (
@@ -32,7 +35,6 @@
 from motrix_env_motrixsim.compiler import build_scene_model
 from motrix_envs.config.scene import StandardSceneCfg, StandardSceneObjsCfg
 from motrix_envs.motion import MotrixMotion
-from motrix_envs.robot import BoosterK1, DexEvt, UnitreeG129Dof
 
 logger = logging.getLogger(__name__)
 
diff --git a/scripts/private/g1_flip_converter.py b/scripts/private/g1_flip_converter.py
index fa87b956..9dd2605f 100644
--- a/scripts/private/g1_flip_converter.py
+++ b/scripts/private/g1_flip_converter.py
@@ -28,6 +28,7 @@
 
 import motrixsim as mtx
 import numpy as np
+from motrix_robots.unitree import UnitreeG129Dof
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import RobotCfg, SceneCfg, SceneObjsCfg
@@ -40,7 +41,6 @@
     _trim,
 )
 from motrix_envs.motion.schema import SCHEMA_VERSION, XYZW_FROM_WXYZ
-from motrix_envs.robot import UnitreeG129Dof
 
 # Assumed joint column order of the mjbatch flip.npz: the MuJoCo Menagerie
 # unitree_g1 29-DOF qpos order (verified indirectly by the FK cross-check).
diff --git a/scripts/private/k1_mujoco_converter.py b/scripts/private/k1_mujoco_converter.py
index ea227a3a..e82b16d9 100644
--- a/scripts/private/k1_mujoco_converter.py
+++ b/scripts/private/k1_mujoco_converter.py
@@ -20,6 +20,7 @@
 
 import motrixsim as mtx
 import numpy as np
+from motrix_robots.booster import BoosterK1
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import RobotCfg, SceneCfg, SceneObjsCfg
@@ -31,7 +32,6 @@
     _trim,
 )
 from motrix_envs.motion.schema import SCHEMA_VERSION, XYZW_FROM_WXYZ
-from motrix_envs.robot import BoosterK1
 
 _K1_ROOT_BODY = "Trunk"
 _K1_REFERENCE_BODY = "Trunk"
diff --git a/scripts/private/xmimic_converter.py b/scripts/private/xmimic_converter.py
index fcf2fa4b..e37039f0 100644
--- a/scripts/private/xmimic_converter.py
+++ b/scripts/private/xmimic_converter.py
@@ -31,6 +31,7 @@
 
 import motrixsim as mtx
 import numpy as np
+from motrix_robots.dex_evt import DexEvt
 
 from motrix_env_core.config import configclass
 from motrix_env_core.config.scene import RobotCfg, SceneCfg, SceneObjsCfg
@@ -42,7 +43,6 @@
     _trim,
 )
 from motrix_envs.motion.schema import SCHEMA_VERSION, XYZW_FROM_WXYZ
-from motrix_envs.robot import DexEvt
 
 # 23-DOF joint order of the xMimic joint_pos columns.
 #
diff --git a/tests/test_view_script.py b/tests/test_view_script.py
index c7410133..842af537 100644
--- a/tests/test_view_script.py
+++ b/tests/test_view_script.py
@@ -8,9 +8,9 @@
 from unittest.mock import Mock
 
 import pytest
+from motrix_robots.unitree import UnitreeGo2Robot
 
 from motrix_env_core import registry
-from motrix_envs.robot import UnitreeGo2Robot
 from motrix_rl.config import ViewConfig
 
 VIEW_SCRIPT = Path(__file__).resolve().parents[1] / "scripts" / "view.py"
diff --git a/uv.lock b/uv.lock
index 1f117acc..6246c943 100644
--- a/uv.lock
+++ b/uv.lock
@@ -31,6 +31,7 @@ members = [
     "motrix-rl-builtin",
     "motrix-rl-rslrl",
     "motrix-rl-skrl",
+    "motrix-robots",
 ]
 
 [[package]]
@@ -1074,6 +1075,7 @@ dependencies = [
     { name = "gymnasium" },
     { name = "motrix-env-core", extra = ["numba", "video"] },
     { name = "motrix-env-motrixsim" },
+    { name = "motrix-robots" },
     { name = "numpy" },
     { name = "omegaconf" },
 ]
@@ -1089,6 +1091,7 @@ requires-dist = [
     { name = "motrix-deploy", marker = "extra == 'deploy'", editable = "motrix_deploy" },
     { name = "motrix-env-core", extras = ["numba", "video"], editable = "motrix_env_core" },
     { name = "motrix-env-motrixsim", editable = "motrix_env_motrixsim" },
+    { name = "motrix-robots", editable = "motrix_robots" },
     { name = "numpy", specifier = ">=1.26" },
     { name = "omegaconf", specifier = ">=2.3,<2.4" },
 ]
@@ -1319,6 +1322,17 @@ requires-dist = [
 ]
 provides-extras = ["jax"]
 
+[[package]]
+name = "motrix-robots"
+version = "0.4.0b0"
+source = { editable = "motrix_robots" }
+dependencies = [
+    { name = "motrix-env-core" },
+]
+
+[package.metadata]
+requires-dist = [{ name = "motrix-env-core", editable = "motrix_env_core" }]
+
 [[package]]
 name = "motrixsim"
 version = "0.10.1"
diff --git a/wiki/design/user-docs-envs-part.md b/wiki/design/user-docs-envs-part.md
index 27d91099..e1919dd9 100644
--- a/wiki/design/user-docs-envs-part.md
+++ b/wiki/design/user-docs-envs-part.md
@@ -375,7 +375,7 @@ Robot 页面继续作为独立参考。环境页面只链接其使用的 Robot
 - Env ID 和 EnvCfg：`motrix_env_core.registry` 及 `motrix_envs` 注册代码；
 - Env description：注册 class 或 factory 的 Python docstring，由 Env Registry 自动提取；
 - Training Algorithms：`configs/task/<env-id>/` 中实际存在的 Hydra Task 选项；
-- Robot：Robot Registry 与 `motrix_envs.robot`；
+- Robot：`motrix_env_core.registry` 的 Robot Registry 与 `motrix_robots` 公共配置 API；
 - 页面视频和封面：`docs/source/_static/`。
 
 `envs/index.md` 的 overview 表格由生成器维护，不人工添加、删除或调整行。Env ID 和双语 description 直接来自 registry；description 的事实来源是注册 provider 的 Python docstring；Training Algorithms 直接来自 Hydra Task 发现结果。环境详情页中的长篇任务描述、任务语义和选型建议继续人工维护。