URDF to MuJoCo procedure

• Removing package:/// prefix from the mesh tags
• Added <mujoco> <compiler fusestatic="false"/> </mujoco> to the URDF <robot> tag
• Converted URDF to XML: ~/.mujoco/mujoco-3.1.1/bin/compile robot.urdf robot.xml
• Added <site name="base" /> to the base link
• Changed the end body into a site
• Added <option noslip_iterations="1"></option>
• Added a scene.xml with floor and lighting
• Added actuators
• Disabled self-collisions
• Changed position and orientation of the base body