diff --git a/examples/pybullet/examples/onerobotics_a1.py b/examples/pybullet/examples/onerobotics_a1.py
new file mode 100644
index 0000000000..10a60ffaca
--- /dev/null
+++ b/examples/pybullet/examples/onerobotics_a1.py
@@ -0,0 +1,106 @@
+"""Load and exercise the OneRobotics A1 robot assets."""
+
+import argparse
+import math
+import time
+
+import pybullet as p
+import pybullet_data
+
+
+MODEL_PATHS = {
+    "right": "onerobotics_a1/right_arm/model.urdf",
+    "left": "onerobotics_a1/left_arm/model.urdf",
+    "bimanual": "onerobotics_a1/bimanual_stand/model.urdf",
+}
+EXPECTED_MOVABLE_JOINTS = {"right": 7, "left": 7, "bimanual": 14}
+
+
+def safe_target(lower_limit, upper_limit):
+  """Return a small target position inside a joint's limits."""
+  margin = min(0.05, (upper_limit - lower_limit) * 0.1)
+  return min(max(0.15, lower_limit + margin), upper_limit - margin)
+
+
+def main():
+  parser = argparse.ArgumentParser(description=__doc__)
+  parser.add_argument("--model", choices=MODEL_PATHS, default="right")
+  parser.add_argument(
+      "--direct", action="store_true", help="run without a GUI and exit after the motion check"
+  )
+  args = parser.parse_args()
+
+  client = p.connect(p.DIRECT if args.direct else p.GUI)
+  if client < 0:
+    raise RuntimeError("Unable to connect to PyBullet")
+
+  try:
+    p.resetSimulation(physicsClientId=client)
+    p.setAdditionalSearchPath(pybullet_data.getDataPath(), physicsClientId=client)
+    p.setGravity(0, 0, -9.81, physicsClientId=client)
+    p.setTimeStep(1.0 / 200.0, physicsClientId=client)
+    p.loadURDF("plane.urdf", physicsClientId=client)
+    robot = p.loadURDF(
+        MODEL_PATHS[args.model],
+        useFixedBase=True,
+        flags=p.URDF_USE_INERTIA_FROM_FILE,
+        physicsClientId=client,
+    )
+
+    movable_joints = []
+    initial_positions = []
+    targets = []
+    for joint in range(p.getNumJoints(robot, physicsClientId=client)):
+      info = p.getJointInfo(robot, joint, physicsClientId=client)
+      if info[2] == p.JOINT_FIXED:
+        continue
+      movable_joints.append(joint)
+      initial_positions.append(p.getJointState(robot, joint, physicsClientId=client)[0])
+      targets.append(safe_target(info[8], info[9]))
+
+    expected = EXPECTED_MOVABLE_JOINTS[args.model]
+    if len(movable_joints) != expected:
+      raise RuntimeError(
+          "Expected {} movable joints, found {}".format(expected, len(movable_joints)))
+
+    for order, (joint, target) in enumerate(zip(movable_joints, targets)):
+      force = 26.859 if order % 7 < 3 else 5.975
+      p.setJointMotorControl2(
+          robot,
+          joint,
+          p.POSITION_CONTROL,
+          targetPosition=target,
+          force=force,
+          positionGain=0.3,
+          velocityGain=1.0,
+          physicsClientId=client,
+      )
+
+    for _ in range(480):
+      p.stepSimulation(physicsClientId=client)
+
+    final_positions = [
+        p.getJointState(robot, joint, physicsClientId=client)[0] for joint in movable_joints
+    ]
+    if not all(math.isfinite(position) for position in final_positions):
+      raise RuntimeError("The simulation produced a non-finite joint position")
+    if not any(
+        abs(after - before) > 1e-5
+        for before, after in zip(initial_positions, final_positions)
+    ):
+      raise RuntimeError("No movable joint responded to the position command")
+
+    print("Loaded OneRobotics A1 {}; movable joints: {}".format(args.model,
+                                                                 len(movable_joints)))
+
+    if not args.direct:
+      while p.isConnected(client):
+        p.stepSimulation(physicsClientId=client)
+        time.sleep(1.0 / 200.0)
+  finally:
+    if p.isConnected(client):
+      p.disconnect(physicsClientId=client)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/LICENSE.txt b/examples/pybullet/gym/pybullet_data/onerobotics_a1/LICENSE.txt
new file mode 100644
index 0000000000..4ea99c213c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/onerobotics_a1/LICENSE.txt
@@ -0,0 +1,395 @@
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/README.md b/examples/pybullet/gym/pybullet_data/onerobotics_a1/README.md
new file mode 100644
index 0000000000..e35820777e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/onerobotics_a1/README.md
@@ -0,0 +1,43 @@
+# OneRobotics A1 robot assets
+
+This directory contains three URDF variants of the OneRobotics A1 robot for
+use with PyBullet.
+
+| Variant | URDF | Movable joints |
+| --- | --- | ---: |
+| Right arm | `right_arm/model.urdf` | 7 |
+| Left arm | `left_arm/model.urdf` | 7 |
+| Bimanual stand | `bimanual_stand/model.urdf` | 14 |
+
+## Source and modifications
+
+The assets were adapted from
+[`katazen/onerobot_h1`](https://github.com/katazen/onerobot_h1) at commit
+`ecf530911284ba0e559f7a24dc222fd8e60d31ed`.
+
+The unused top-level MuJoCo `compiler` element was removed from the published
+URDF files, and the meshes were packaged with relative paths. The remaining
+URDF model fields and all STL mesh bytes are unchanged from that source
+revision.
+
+## License and attribution
+
+The OneRobotics A1 robot assets are copyright 2026 OneRobotics and licensed
+under the Creative Commons Attribution 4.0 International license (CC BY 4.0).
+See [`LICENSE.txt`](LICENSE.txt) for the full license text.
+
+## Known limitations
+
+- The arm models do not include grippers.
+- The right- and left-arm Link7 mass and inertia values are marked as temporary
+  in the source models.
+- The bimanual URDF contains zero effort and velocity values inherited from the
+  source. The accompanying example therefore supplies conservative controller
+  force values at runtime; those values are not presented as source CAD data.
+
+Run the example from the repository root with one of `right`, `left`, or
+`bimanual`:
+
+```bash
+PYTHONPATH=examples/pybullet/gym python examples/pybullet/examples/onerobotics_a1.py --model right
+```
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l0.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l0.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l2.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l2.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l4.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l4.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l6.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l6.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l7.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_l7.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r0.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r0.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r1.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r1.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r2.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r2.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r3.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r3.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r4.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r4.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r5.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r5.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r6.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r6.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r7.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/Link_r7.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/base_link.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/meshes/base_link.STL
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/model.urdf b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/model.urdf
new file mode 100644
index 0000000000..eaa7f5f47f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/onerobotics_a1/bimanual_stand/model.urdf
@@ -0,0 +1,487 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="A1_URDF">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.0058338864101595 -8.03875009165456E-05 0.203431150672762" rpy="0 0 0" />
+      <mass value="1.71792346199407" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Link_r0">
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+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966" />
+      <geometry>
+        <mesh filename="./meshes/Link_r0.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
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+      <geometry>
+        <mesh filename="./meshes/Link_r0.STL" />
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+    </collision>
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+    <parent link="base_link" />
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+    <axis xyz="0 0 0" />
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+      <geometry>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_r2.STL" />
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+    </collision>
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+  <joint name="joint_r3" type="revolute">
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+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="./meshes/Link_r4.STL" />
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+    </collision>
+  </link>
+  <joint name="joint_r4" type="revolute">
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+    <origin xyz="-3.625453437003069e-07 0 0.098699999999334154" rpy="-1.5707963267948966 -1.5707963267948966 0" />
+    <parent link="Link_l1" />
+    <child link="Link_l2" />
+    <axis xyz="-3.6732185957575245e-06 -3.6731916108612818e-06 0.99999999998650746" />
+    <limit lower="-0.26" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="Link_l3">
+    <inertial>
+      <origin xyz="7.3710224592908454e-06 0.0017008042461317484 0.093348891534898976" rpy="0 0 0" />
+      <mass value="0.667439620457598" />
+      <inertia ixx="0.00057113134735861442" ixy="8.7738829423632978e-09" ixz="1.616519696595284e-07" iyy="0.00045138810612053347" iyz="-1.3010321692357674e-05" izz="0.00041079968877403438" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.6735724225648736e-06 3.6731915925283599e-06 -3.1414926535763001" />
+      <geometry>
+        <mesh filename="./meshes/Link_l3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="3.6735724225648736e-06 3.6731915925283599e-06 -3.1414926535763001" />
+      <geometry>
+        <mesh filename="./meshes/Link_l3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_l3" type="revolute">
+    <origin xyz="-4.4592709819402209e-07 -0.12149999963104151 -0.00010044629441870738" rpy="1.5707963267948966 -1.5707963267948966 0" />
+    <parent link="Link_l2" />
+    <child link="Link_l3" />
+    <axis xyz="-3.6735589314205621e-06 3.6732050849805432e-06 0.99999999998650602" />
+    <limit lower="-2.75" upper="2.75" effort="0" velocity="0" />
+  </joint>
+  <link name="Link_l4">
+    <inertial>
+      <origin xyz="-1.47550542811681E-07 0.0718995408470047 0.00562270150238153" rpy="0 0 0" />
+      <mass value="0.507385586657591" />
+      <inertia ixx="0.000276404210892645" ixy="-1.96033387806223E-09" ixz="-1.10172820487673E-09" iyy="0.000256094693830901" iyz="3.46322717041057E-05" izz="0.000277955036928398" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_l4" type="revolute">
+    <origin xyz="-4.2148360030222731e-07 0.00010086139846659004 0.11199999962947839" rpy="1.5707963264005926 -3.6731646048592994e-06 0.0001073464236997842" />
+    <parent link="Link_l3" />
+    <child link="Link_l4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.91" upper="1.91" effort="0" velocity="0" />
+  </joint>
+  <link name="Link_l5">
+    <inertial>
+      <origin xyz="9.92172288272197E-07 -8.1147493016076E-05 0.0882672055879332" rpy="0 0 0" />
+      <mass value="0.533144415193751" />
+      <inertia ixx="0.000403030005194806" ixy="8.25514348455567E-10" ixz="-6.54808917976416E-08" iyy="0.00038314755750435" iyz="5.79347520210361E-06" izz="0.000240045322334498" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_l5" type="revolute">
+    <origin xyz="0 0.111 0.00010045" rpy="-1.5708 0 0" />
+    <parent link="Link_l4" />
+    <child link="Link_l5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.75" upper="2.75" effort="0" velocity="0" />
+  </joint>
+  <link name="Link_l6">
+    <inertial>
+      <origin xyz="-7.3240074565939E-06 -0.0710144386667431 0.00393335877979056" rpy="0 0 0" />
+      <mass value="0.519324489008105" />
+      <inertia ixx="0.000427989792447479" ixy="-3.70097046618755E-07" ixz="1.74154343441058E-07" iyy="0.000271059071495622" iyz="-3.2562028057684E-05" izz="0.000351004401667421" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_l6" type="revolute">
+    <origin xyz="0 0 0.11" rpy="-1.5708 0 0" />
+    <parent link="Link_l5" />
+    <child link="Link_l6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
+  </joint>
+  <link name="Link_l7">
+    <inertial>
+      <origin xyz="1.48194156501802E-07 -0.0022020925773697 0.00293052240317371" rpy="0 0 0" />
+      <mass value="0.0177506448635751" />
+      <inertia ixx="2.81905963680209E-06" ixy="6.22561213944916E-11" ixz="-2.05797154201455E-13" iyy="1.89453459698476E-06" iyz="2.22908043797951E-09" izz="4.60994245909715E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link_l7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_l7" type="revolute">
+    <origin xyz="0 -0.112 0" rpy="1.5708 6.7338E-05 0" />
+    <parent link="Link_l6" />
+    <child link="Link_l7" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.75" upper="2.75" effort="0" velocity="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link1.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link1.STL
new file mode 100644
index 0000000000..82b292a7a9
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link2.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link2.STL
new file mode 100644
index 0000000000..b6d3dedd34
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link3.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link3.STL
new file mode 100644
index 0000000000..82dfc58f92
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link4.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link4.STL
new file mode 100644
index 0000000000..f39d1daaf1
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link5.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link5.STL
new file mode 100644
index 0000000000..693bf33bd7
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link6.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link6.STL
new file mode 100644
index 0000000000..65ad28ab1f
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link7.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/Link7.STL
new file mode 100644
index 0000000000..fc81ee57e9
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/base_link.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/base_link.STL
new file mode 100644
index 0000000000..f013f20de3
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/meshes/a1_l/base_link.STL differ
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/model.urdf b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/model.urdf
new file mode 100644
index 0000000000..06388e9152
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/onerobotics_a1/left_arm/model.urdf
@@ -0,0 +1,241 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="a1_l_urdf">
+  <!-- 虚拟根link (KDL兼容性) -->
+  <link name="world" />
+  <!-- 虚拟根关节 -->
+  <joint name="world_to_base" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="base_link">
+    <inertial>
+      <origin xyz="2.12826196715557E-05 -5.52026218782097E-05 0.0171427754448579" rpy="0 0 0" />
+      <mass value="0.401650168942009" />
+      <inertia ixx="0.000237179758518644" ixy="1.22424408206913E-07" ixz="1.57836402935181E-07" iyy="0.000248236117612461" iyz="7.93541349379853E-07" izz="0.000305122605170233" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.776470588235294 0.756862745098039 0.737254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Link1">
+    <inertial>
+      <origin xyz="-0.000104793909039569 0.000878025489583305 0.0937688680157419" rpy="0 0 0" />
+      <mass value="0.438675872181416" />
+      <inertia ixx="0.00060517294321352" ixy="3.1414337686272E-07" ixz="9.46425739217291E-07" iyy="0.000501491467720591" iyz="-3.30016145254686E-05" izz="0.00025580993277449" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint1-a1_l" type="revolute">
+    <origin xyz="0 0 0.0125" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="Link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="1.04" effort="15" velocity="30" />
+  </joint>
+  <link name="Link2">
+    <inertial>
+      <origin xyz="4.66303482215547E-05 -0.0610765811025605 0.00481122218899704" rpy="0 0 0" />
+      <mass value="0.387770755219132" />
+      <inertia ixx="0.000597204372907025" ixy="8.36763420077846E-07" ixz="-2.69873967501812E-08" iyy="0.000348292487571024" iyz="-2.93717934653094E-05" izz="0.000403661570691348" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint2-a1_l" type="revolute">
+    <origin xyz="0 0 0.12745" rpy="1.5708 -1.5708 0" />
+    <parent link="Link1" />
+    <child link="Link2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.26" upper="3.14" effort="15" velocity="30" />
+  </joint>
+  <link name="Link3">
+    <inertial>
+      <origin xyz="1.43987309591522E-05 0.00178404133280441 0.109669668659996" rpy="0 0 0" />
+      <mass value="0.407125793506889" />
+      <inertia ixx="0.000446520666780017" ixy="-8.24275545731468E-09" ixz="1.61110520939152E-07" iyy="0.000343044757246363" iyz="-1.30123176926368E-05" izz="0.000286204871222088" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint3-a1_l" type="revolute">
+    <origin xyz="0 -0.09325 -0.0001" rpy="1.5708 -1.5708 0" />
+    <parent link="Link2" />
+    <child link="Link3" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="15" velocity="30" />
+  </joint>
+  <link name="Link4">
+    <inertial>
+      <origin xyz="-9.99808131922311E-07 0.0625047132640995 0.00555704355349793" rpy="0 0 0" />
+      <mass value="0.252142897202372" />
+      <inertia ixx="0.000178779070280237" ixy="-6.97346977234495E-09" ixz="-7.78451594087313E-10" iyy="0.000146134678616042" iyz="3.30147349592292E-05" izz="0.000165597697680657" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint4-a1_l" type="revolute">
+    <origin xyz="0 -0.000999999996676215 0.140249999995695" rpy="1.57079632678358 0 6.73358220455809E-05" />
+    <parent link="Link3" />
+    <child link="Link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.92" upper="1.92" effort="3" velocity="30" />
+  </joint>
+  <link name="Link5">
+    <inertial>
+      <origin xyz="2.1819607269304E-06 0.000940045309240356 0.0983077176130554" rpy="0 0 0" />
+      <mass value="0.333953527048094" />
+      <inertia ixx="0.000324219442352689" ixy="-1.17918294445498E-09" ixz="-7.21118252231978E-08" iyy="0.000299078218859742" iyz="5.7924183985276E-06" izz="0.000161241194938864" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint5-a1_l" type="revolute">
+    <origin xyz="0 0.08800000000195 -0.00100000000141642" rpy="-1.57079632679444 0 0" />
+    <parent link="Link4" />
+    <child link="Link5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.23" upper="2.23" effort="3" velocity="30" />
+  </joint>
+  <link name="Link6">
+    <inertial>
+      <origin xyz="-1.41083567195476E-05 -0.0616500007920044 0.00592126579182656" rpy="0 0 0" />
+      <mass value="0.289938784061927" />
+      <inertia ixx="0.000346578289881221" ixy="-3.69413578027761E-07" ixz="1.71707534440891E-07" iyy="0.000183154957217547" iyz="-3.25615026642568E-05" izz="0.000268358636952706" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint6-a1_l" type="revolute">
+    <origin xyz="0 0.0005 0.133" rpy="-1.5708 0 0" />
+    <parent link="Link5" />
+    <child link="Link6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="3" velocity="30" />
+  </joint>
+  <link name="Link7">
+    <inertial>
+      <!-- v1 placeholder: mass=0.20 kg (real flange assembly weighs 150-250 g
+           depending on end-effector; the CAD export lists 17.8 g which is
+           mesh-only and drives adaptive kp to zero for joint 7). Inertia
+           scaled linearly (11.27x) from the original CAD-export values.
+           TODO: replace with measured flange mass + identified inertia. -->
+      <origin xyz="-1.47613369245068E-07 -0.00220208936053254 0.00293052049190767" rpy="0 0 0" />
+      <mass value="0.20" />
+      <inertia ixx="3.17582E-05" ixy="-7.00790E-10" ixz="1.46490E-12" iyy="2.13489E-05" iyz="2.51150E-08" izz="5.19434E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_l/Link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint7-a1_l" type="revolute">
+    <origin xyz="0 -0.112 0.00025" rpy="1.5708 0 0" />
+    <parent link="Link6" />
+    <child link="Link7" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="3" velocity="30" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link1.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link1.STL
new file mode 100644
index 0000000000..087e347312
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link2.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link2.STL
new file mode 100644
index 0000000000..7fdab33df9
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link3.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link3.STL
new file mode 100644
index 0000000000..4885c653c5
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link4.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link4.STL
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index 0000000000..db51718849
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link5.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link5.STL
new file mode 100644
index 0000000000..da539c9a37
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link6.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link6.STL
new file mode 100644
index 0000000000..70b8688546
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diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link7.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link7.STL
new file mode 100644
index 0000000000..5888b4da0c
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/Link7.STL differ
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/base_link.STL b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/base_link.STL
new file mode 100644
index 0000000000..dcc7c6d90d
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/meshes/a1_r/base_link.STL differ
diff --git a/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/model.urdf b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/model.urdf
new file mode 100644
index 0000000000..74728298fe
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/onerobotics_a1/right_arm/model.urdf
@@ -0,0 +1,232 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="a1_r_urdf">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-2.12826196715557e-05 -5.52026218782097e-05 0.0171427754448579" rpy="0 0 0" />
+      <mass value="0.401650168942009" />
+      <inertia ixx="0.000237179758518644" ixy="1.22424408206913E-07" ixz="1.57836402935181E-07" iyy="0.000248236117612461" iyz="7.93541349379853E-07" izz="0.000305122605170233" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.776470588235294 0.756862745098039 0.737254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Link1">
+    <inertial>
+      <origin xyz="0.000104793909039569 0.000878025489583305 0.0937688680157419" rpy="0 0 0" />
+      <mass value="0.438675872181416" />
+      <inertia ixx="0.00060517294321352" ixy="3.1414337686272E-07" ixz="9.46425739217291E-07" iyy="0.000501491467720591" iyz="-3.30016145254686E-05" izz="0.00025580993277449" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint1-a1_r" type="revolute">
+    <origin xyz="-0.0 0.0 0.0125" rpy="0.0 -0.0 -0.0" />
+    <parent link="base_link" />
+    <child link="Link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.04" upper="3.14" effort="15" velocity="30" />
+  </joint>
+  <link name="Link2">
+    <inertial>
+      <origin xyz="-4.66303482215547e-05 -0.0610765811025605 0.00481122218899704" rpy="0 0 0" />
+      <mass value="0.387770755219132" />
+      <inertia ixx="0.000597204372907025" ixy="8.36763420077846E-07" ixz="-2.69873967501812E-08" iyy="0.000348292487571024" iyz="-2.93717934653094E-05" izz="0.000403661570691348" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint2-a1_r" type="revolute">
+    <origin xyz="-0.0 0.0 0.12745" rpy="1.5708 1.5708 -0.0" />
+    <parent link="Link1" />
+    <child link="Link2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="0.26" effort="15" velocity="30" />
+  </joint>
+  <link name="Link3">
+    <inertial>
+      <origin xyz="-1.43987309591522e-05 0.00178404133280441 0.109669668659996" rpy="0 0 0" />
+      <mass value="0.407125793506889" />
+      <inertia ixx="0.000446520666780017" ixy="-8.24275545731468E-09" ixz="1.61110520939152E-07" iyy="0.000343044757246363" iyz="-1.30123176926368E-05" izz="0.000286204871222088" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint3-a1_r" type="revolute">
+    <origin xyz="-0.0 -0.09325 -0.0001" rpy="1.5708 1.5708 -0.0" />
+    <parent link="Link2" />
+    <child link="Link3" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="15" velocity="30" />
+  </joint>
+  <link name="Link4">
+    <inertial>
+      <origin xyz="9.99808131922311e-07 0.0625047132640995 0.00555704355349793" rpy="0 0 0" />
+      <mass value="0.252142897202372" />
+      <inertia ixx="0.000178779070280237" ixy="-6.97346977234495E-09" ixz="-7.78451594087313E-10" iyy="0.000146134678616042" iyz="3.30147349592292E-05" izz="0.000165597697680657" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint4-a1_r" type="revolute">
+    <origin xyz="-0.0 -0.000999999996676215 0.140249999995695" rpy="1.57079632678358 -0.0 -6.73358220455809e-05" />
+    <parent link="Link3" />
+    <child link="Link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.92" upper="1.92" effort="3" velocity="30" />
+  </joint>
+  <link name="Link5">
+    <inertial>
+      <origin xyz="-2.1819607269304e-06 0.000940045309240356 0.0983077176130554" rpy="0 0 0" />
+      <mass value="0.333953527048094" />
+      <inertia ixx="0.000324219442352689" ixy="-1.17918294445498E-09" ixz="-7.21118252231978E-08" iyy="0.000299078218859742" iyz="5.7924183985276E-06" izz="0.000161241194938864" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint5-a1_r" type="revolute">
+    <origin xyz="-0.0 0.08800000000195 -0.00100000000141642" rpy="-1.57079632679444 -0.0 -0.0" />
+    <parent link="Link4" />
+    <child link="Link5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.23" upper="2.23" effort="3" velocity="30" />
+  </joint>
+  <link name="Link6">
+    <inertial>
+      <origin xyz="1.41083567195476e-05 -0.0616500007920044 0.00592126579182656" rpy="0 0 0" />
+      <mass value="0.289938784061927" />
+      <inertia ixx="0.000346578289881221" ixy="-3.69413578027761E-07" ixz="1.71707534440891E-07" iyy="0.000183154957217547" iyz="-3.25615026642568E-05" izz="0.000268358636952706" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint6-a1_r" type="revolute">
+    <origin xyz="-0.0 0.0005 0.133" rpy="-1.5708 -0.0 -0.0" />
+    <parent link="Link5" />
+    <child link="Link6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="3" velocity="30" />
+  </joint>
+  <link name="Link7">
+    <inertial>
+      <!-- v1 placeholder: mass=0.20 kg (real flange assembly weighs 150-250 g;
+           CAD export lists 17.8 g which drives adaptive kp to zero for joint 7).
+           Inertia scaled linearly (11.27x) from original CAD values.
+           TODO: replace with measured flange mass + identified inertia. -->
+      <origin xyz="1.47613369245068e-07 -0.00220208936053254 0.00293052049190767" rpy="0 0 0" />
+      <mass value="0.20" />
+      <inertia ixx="3.17582E-05" ixy="-7.00790E-10" ixz="1.46490E-12" iyy="2.13489E-05" iyz="2.51150E-08" izz="5.19434E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/a1_r/Link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint7-a1_r" type="revolute">
+    <origin xyz="-0.0 -0.112 0.00025" rpy="1.5708 -0.0 -0.0" />
+    <parent link="Link6" />
+    <child link="Link7" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="3" velocity="30" />
+  </joint>
+</robot>
\ No newline at end of file