Merge pull request #173 from ManifoldFR/manifoldfr/add-mj-humanoid

Add MuJoCo Humanoid MJCF description (and deepmind/mujoco to repository list)

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 - Description RBY1 Mobile Manipulatior (URDF) (thanks to @uynitsuj)
 - Description YAM (MJCF) (thanks to @uynitsuj)
 - Description YAM (URDF) (thanks to @uynitsuj)
+- Description MuJoCo Humanoid (MJCF) (thanks to @ManifoldFR)
 
 ## [1.19.0] - 2025-07-03
 

README.md

@@ -204,6 +204,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `double_pendulum_description` | Double Pendulum       | 2   | URDF       |
 | `dynamixel_2r_mj_description` | Dynamixel 2R          | 2   | MJCF       |
 | `finger_edu_description`      | FingerEdu             | 3   | URDF       |
+| `mujoco_humanoid_description` | MuJoCo Humanoid       | 27  | MJCF       |
 | `simple_humanoid_description` | Simple Humanoid       | 29  | URDF       |
 | `trifinger_edu_description`   | TriFingerEdu          | 9   | URDF       |
 

robot_descriptions/_descriptions.py

@@ -151,6 +151,9 @@ def has_urdf(self) -> bool:
     ),
     "mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}),
     "minitaur_description": Description(Format.URDF, tags={"quadruped"}),
+    "mujoco_humanoid_description": Description(
+        Format.MJCF, tags={"educational", "humanoid"}
+    ),
     "n1_description": Description(Format.URDF, tags={"humanoid"}),
     "n1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "nextage_description": Description(Format.URDF, tags={"dual_arm"}),

robot_descriptions/_repositories.py

@@ -203,6 +203,11 @@ class Repository:
         commit="66384c6b8581c811a7b1eb63bcf4fa944fa43602",
         cache_path="mujoco_menagerie",
     ),
+    "mujoco": Repository(
+        url="https://github.com/google-deepmind/mujoco.git",
+        commit="ad0dc0de5e10a075a2c65be629e9a8d557d383a6",
+        cache_path="mujoco",
+    ),
     "nao_robot": Repository(
         url="https://github.com/ros-naoqi/nao_robot.git",
         commit="67476469a1371b00b17538eb6ea336367ece7d44",

robot_descriptions/mujoco_humanoid_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""MJCF description for the MuJoCo humanoid."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "mujoco", commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None)
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "model", "humanoid")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "humanoid.xml")