Add Kinova Link6: MJCF, scene, meshes, docs (author: Anas Houssaini <[email protected]>)

Author: anashoussaini

kinova_link6/CHANGELOG.md

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+# Changelog – Link6 Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-27-08]
+- Initial release.

kinova_link6/LICENSE

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+Copyright (c) 2018, Kinova inc.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 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.

kinova_link6/README.md

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+# Kinova Link6 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Kinova
+Link6](https://www.kinovarobotics.com/product/link6-robots) developed by [Kinova Robotics](https://www.kinovarobotics.com/). It is derived from a private URDF description.
+
+
+<p float="left">
+  <img src="assets/link6.png" width="400">
+</p>
+
+
+## MJCF derivation Link6
+
+1. Converted xacro to URDF: `rosrun xacro xacro link6.xacro > link6.urdf`
+2. Added the following to the URDF's `<robot>` clause:
+
+```xml
+<mujoco>
+  <compiler meshdir="assets" discardvisual="false" fusestatic="false"/>
+</mujoco>
+```
+
+3. Converted to MJCF:
+
+```python
+import mujoco
+model = mujoco.MjModel.from_xml_path('link6.urdf')
+mujoco.mj_saveLastXML('link6_raw.xml', model)
+```
+
+4. Added the following to the MJCF:
+   * Position actuators for all six arm joints with per-class gains/limits; 
+5. Added `scene.xml` which includes the robot.
+
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Anas Houssaini](https://anashoussaini.github.io/), [Abed Al Rahman Al Mrad](https://github.com/aalmrad),[Jonathan Lussier](https://github.com/kinovajon).