If you would like to see a new model added to the Menagerie collection, please provide us with the following information before sending a pull request. (Ideally, before you start working on converting or tuning the model for MuJoCo.)

URL for the existing model source (e.g. URDF)
All the model files are in this dsr2 repo descriptions.

License terms of the upstream model
BSD 3-Clause License: https://github.com/DoosanRobotics/doosan-robot2/blob/humble/LICENSE

What do you think is required to convert and tune this model for MuJoCo?
Currently changing this model for controlling robot in MuJoCo with ROS2! But might need little change for matching this repo request + MJX compatibility.

Are you proposing to help develop and maintain the new model?
I'm currenlty working at Doosan Robotics and sure! I'm willing to help. Should surely also contributes to Playground for next task!