Adding the da Vinci Research Kit(dVRK)

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)**
[dvrk_mode](https://github.com/jhu-dvrk/dvrk_model), this repo contains the URDF for all the components of the dVRK, I think that the most useful part to start is the Patient Side Manipulator (PSM).

**License terms of the upstream model**
[MIT license](https://github.com/jhu-dvrk/dvrk_model#MIT-1-ov-file)

**What do you think is required to convert and tune this model for MuJoCo?**
Convert the XACRO URDF using ros to XML, then I imagine revising the actuators for the joints, and reviewing correct inertia and mass values finishing with any cosmetic changes needed to look like the actual robot.

**Are you proposing to help develop and maintain the new model?**
Yes, I am willing to develop and maintain the model.

Start with the dvrk_model repository linked in the issue, focusing on the Patient Side Manipulator (PSM) URDF and the stated ROS XACRO-to-XML conversion path. Review the actuator, inertia, mass, and cosmetic requirements; done means a tuned PSM model is added to the MuJoCo Menagerie and matches the actual robot closely.

Written by the indexing model from the issue text.