Add UR10e MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -2,6 +2,12 @@
 
 All notable changes to this project will be documented in this file.
 
+## Unreleased
+
+### Added
+
+- Description: UR10e (MJCF)
+
 ## [1.6.0] - 2023/5/23
 
 ### Added

README.md

@@ -135,6 +135,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `panda_mj_description`        | Panda                 | Franka Emika             | 8   | MJCF       |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | 6   | URDF       |
 | `ur10_description`            | UR10                  | Universal Robots         | 6   | URDF       |
+| `ur10e_mj_description`        | UR10e                 | Universal Robots         | 6   | MJCF       |
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |

robot_descriptions/_descriptions.py

@@ -122,6 +122,7 @@ def has_urdf(self) -> bool:
     "trifinger_edu_description": Description(Format.URDF),
     "upkie_description": Description(Format.URDF),
     "ur10_description": Description(Format.URDF),
+    "ur10e_mj_description": Description(Format.MJCF),
     "ur3_description": Description(Format.URDF),
     "ur5_description": Description(Format.URDF),
     "ur5e_mj_description": Description(Format.MJCF),