Is a dedicated URDF/MJCF/USD model available for the M20 Pro (Lynx M20 Pro) variant?

[wahabtanveer]

Hi DEEP Robotics team,

Thanks for maintaining this repository it's been very useful for our development so far.

We're currently developing on the M20 URDF/MJCF model from this repo, but the actual hardware we'll be deploying to is the M20 Pro. Before we go further, we wanted to check a few things:

Is there a separate URDF/MJCF/USD model specifically for the M20 Pro, or is the M20 Pro intended to share the same kinematic description as the base M20 model?
If they share the same base description, are there any differences we should account for manually e.g., added LiDAR/camera mounts, battery configuration (dual quick-swap), payload capacity, or shifts in mass/inertia that would affect simulation accuracy (dynamics, RL sim-to-real transfer, collision geometry)?
If a Pro-specific model exists or is planned, could you point us to it or give an estimated timeline for when it might be added to this repo?

We noticed that some of your other repos (e.g. sdk_deploy) reference "M20/M20 Pro" together, which suggested to us that the description files might be shared but we wanted to confirm directly before committing our project to one model or the other.

Thanks in advance for any guidance!

[bopeng5221]

Hi,

M20 and M20 Pro have the same urdf while M20 S is slightly different. If you added something on the robot, you can modify the urdf accordingly or increase domain randomization for robustness.

Best,
Percy