From aec7397fd1c23cc21d6d7deeebce044e127507c3 Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Sun, 22 Dec 2024 15:50:00 +0300 Subject: [PATCH 1/3] Add SO-ARM100 mujoco description --- README.md | 1 + robot_descriptions/_descriptions.py | 1 + robot_descriptions/_repositories.py | 2 +- .../so_arm100_mj_description.py | 23 +++++++++++++++++++ 4 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 robot_descriptions/so_arm100_mj_description.py diff --git a/README.md b/README.md index 4a7a285..b9300cb 100644 --- a/README.md +++ b/README.md @@ -146,6 +146,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | 6 | URDF | | `sawyer_mj_description` | Sawyer | Rethink Robotics | 7 | MJCF | | `so_arm100` | SO-ARM100 | The Robot Studio | 6 | URDF | +| `so_arm100_mj_description` | SO-ARM100 | The Robot Studio | 6 | MJCF | | `ur10_description` | UR10 | Universal Robots | 6 | URDF | | `ur10e_mj_description` | UR10e | Universal Robots | 6 | MJCF | | `ur3_description` | UR3 | Universal Robots | 6 | URDF | diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py index ebbbff4..81d0d0b 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -122,6 +122,7 @@ def has_urdf(self) -> bool: "skydio_x2_description": Description(Format.URDF), "skydio_x2_mj_description": Description(Format.MJCF), "so_arm100": Description(Format.URDF), + "so_arm100_mj_description": Description(Format.MJCF), "solo_description": Description(Format.URDF), "spryped_description": Description(Format.URDF), "stretch_description": Description(Format.URDF), diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index be83787..ba1804e 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -162,7 +162,7 @@ class Repository: ), "mujoco_menagerie": Repository( url="https://github.com/deepmind/mujoco_menagerie.git", - commit="511be2a8bea4bf06ea4a1825c304a5b0cc6b67b1", + commit="a88bc450470d97ebc1f282e5969675fb4d1f0ed7", cache_path="mujoco_menagerie", ), "nao_robot": Repository( diff --git a/robot_descriptions/so_arm100_mj_description.py b/robot_descriptions/so_arm100_mj_description.py new file mode 100644 index 0000000..fda8a82 --- /dev/null +++ b/robot_descriptions/so_arm100_mj_description.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2024 Jafar Uruç + +"""SO-ARM100 MJCF description.""" + +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_menagerie", + commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), +) + +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "trs_so_arm100") + +MJCF_PATH: str = _path.join( + PACKAGE_PATH, "so_arm100.xml" +) From 8ed344fa833514e4e75a33e8f69faef85bc1314f Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Mon, 6 Jan 2025 13:28:10 +0000 Subject: [PATCH 2/3] Update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f6de484..0a7bf93 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file. ### Added +- Description: SO-ARM100 (MJCF) - Description: Berkeley Humanoid ### Fixed From 3fcaa0fc623756b7f11dca083515f835e90c41ef Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Mon, 6 Jan 2025 13:47:01 +0000 Subject: [PATCH 3/3] Lint --- robot_descriptions/so_arm100_mj_description.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/robot_descriptions/so_arm100_mj_description.py b/robot_descriptions/so_arm100_mj_description.py index fda8a82..6f51c41 100644 --- a/robot_descriptions/so_arm100_mj_description.py +++ b/robot_descriptions/so_arm100_mj_description.py @@ -18,6 +18,4 @@ PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "trs_so_arm100") -MJCF_PATH: str = _path.join( - PACKAGE_PATH, "so_arm100.xml" -) +MJCF_PATH: str = _path.join(PACKAGE_PATH, "so_arm100.xml")