Add Simplified MJCF Model for RBY1 Robot

[dongridong]

Hello, we are the RBY1 Support Team from Rainbow Robotics.
We would like to contribute a simplified MJCF model for the RBY1 robot to support its use in simulations.

1. Description:
   This pull request introduces a simplified MJCF description of the RBY1 robot developed by Rainbow Robotics. The model includes:

2. Preprocessed meshes and assets for efficient simulation.
   A well-defined rby1.xml MJCF file that:
   Implements the robot's structure and actuator configurations.
   Adjusts joint and collision properties for optimal MuJoCo simulation.
   Compatibility with the original URDF file, enabling smooth transitions between formats.
   Key Features:

3. Preprocessed meshes optimized for MuJoCo.
   Support for free joint movement in 3D space.
   Streamlined collision handling using classes.

4. License:
   This model is distributed under the Apache License 2.0.

If merged, this addition will provide researchers and developers with enhanced simulation tools for the RBY1 robot.

If you have any questions, please feel free to contact us at [email protected].
Thank you!

[google-cla]

Thanks for your pull request! It looks like this may be your first contribution to a Google open source project. Before we can look at your pull request, you'll need to sign a Contributor License Agreement (CLA).

View this failed invocation of the CLA check for more information.

For the most up to date status, view the checks section at the bottom of the pull request.

[kevinzakka]

Amazing PR, thank you!

[dongridong]

Dear Kevin Zakka, I am Donghyeon Noh from Rainbow Robotics. Last week, we submitted a pull request for the model of our robot, RBY1, following the guidelines of the google-deepmind/mujoco_menagerie repository. However, we encountered a failure due to the Google CLA (Contributor License Agreement). To provide more context, I have attached two screenshots illustrating the issue. Could you kindly let us know what additional steps are required on our end to resolve this? We are ready to take prompt action to address the matter. Thank you for your support. Best regards, Donghyeon Noh Rainbow Robotics 2025년 1월 4일 (토) 오전 10:01, Kevin Zakka ***@***.***>님이 작성:

…

***@***.**** approved this pull request. Amazing PR, thank you! — Reply to this email directly, view it on GitHub <#134 (review)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AWFL4WNHQPDSEDYQ6DHAMRT2I4XHFAVCNFSM6AAAAABURLFBYKVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMZDKMRZHA2TSMJQGY> . You are receiving this because you modified the open/close state.Message ID: ***@***.*** com>

[dongridong]

Hello, we are the RBY1 Support Team from Rainbow Robotics.

The previous MJCF model for the RBY1 robot did not include the joint torque limits.
I have addressed this issue and updated the model accordingly.

I will submit a new pull request with the revised file.

Thank you for your attention.

Best regards,
Dongridong

[dongridong]

Hi, @kevinzakka.

We have completed the verification of the following for adding the RBY1 model:

1. Contributor License Agreement
2. pytest

Please review and merge the PR.