Rainbow robotics rby1

[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.

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

The model includes:
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:

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

Additional Work:

• Fixed an issue where the file would not open correctly in MuJoCo 3.2.7.
• Verified the model using model_test.py.
• Adjusted armature and damping parameters.
• Modified the forcelimit parameter.
• Added the implicitfast integrator option.

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

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