Add OpenArm v1 Bimanual

[thomasonzhou]

URL for the existing model source (e.g. URDF)

MJCF: https://github.com/enactic/openarm_mujoco/blob/master/v1/openarm_bimanual.xml
URDF xacro: https://github.com/enactic/openarm_description/blob/main/urdf/robot/v10.urdf.xacro

License terms of the upstream model

Apache 2.0

What do you think is required to convert and tune this model for MuJoCo?

It is already converted from URDF, but the CAD files and meshes are also open-source to create new versions.

Are you proposing to help develop and maintain the new model?

Yes

[kevinzakka]

Hi @thomasonzhou, yes of course! Love the robot btw!

[thomasonzhou]

Thanks! Our team is working on system identification of the inertia/friction/torque so we will prepare a PR once this is complete.