feat(sim): yam molmoact2 dual arm setup

THIRD_PARTY_ASSET_LICENSES.md

@@ -26,6 +26,15 @@ The following directories contain third-party assets:
 - `assets/cameras/d405/`
   Origin: Intel RealSense D405 camera assets distributed via MuJoCo Menagerie RealSense assets
   License: Apache License 2.0 notice reproduced below for the upstream Intel RealSense asset family
+- `assets/robots/yam/`
+  Origin: MuJoCo Menagerie `i2rt_yam/` (`yam.xml` with the gripper of `yam_linear_4310.xml`)
+  License: MIT license reproduced below
+- `assets/cameras/d435i/`
+  Origin: MuJoCo Menagerie `realsense_d435i/`
+  License: Apache License 2.0
+- `assets/objects/yam_d405_wrist_mount/`
+  Origin: D405 wrist mount of i2rt's YAM station model (`i2rt/robot_models/station/assets/d405_wrist_linear_4310.stl`), with the camera body removed
+  License: MIT license reproduced below
 
 All other repository contents, including original RCS source code and RCS-authored assets, remain under AGPL-3.0 unless another file explicitly states otherwise.
 
@@ -319,3 +328,45 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ```
+
+## I2RT Robotics
+
+`assets/robots/yam/`, via MuJoCo Menagerie `i2rt_yam/`:
+
+```text
+MIT License
+
+Copyright (c) 2025 i2rt robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+```
+
+`assets/objects/yam_d405_wrist_mount/`, from github.com/i2rt-robotics/i2rt:
+
+```text
+MIT License
+
+Copyright (c) I2RT Robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+```

assets/cameras/d405/d405.xml

@@ -41,7 +41,7 @@ np.float64(57.9293391321625) -->
  [  0.           0.           1.           0.        ]] -->
  <!-- >>> np.arctan(720/(2*651.50952148))*360/np.pi
 np.float64(57.84682394938774) -->
-      <camera name="camera" pos="0.0038 0.009 0" quat="0.5 0.5 -0.5 -0.5" fovy="58"/> 
+      <camera name="camera" pos="0.0038 0 -0.009" quat="0.7071068 0 -0.7071068 0" fovy="58"/>
     </body>
   </worldbody>