From c99c73e48b8e3b0308ea44822961ce715d351505 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 24 Feb 2025 13:58:48 +0100 Subject: [PATCH 1/3] Add License column to Arms in the readme --- README.md | 52 ++++++++++++++++++++++++++-------------------------- 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/README.md b/README.md index 2290ac3..e7c93b9 100644 --- a/README.md +++ b/README.md @@ -130,32 +130,32 @@ The DOF column denotes the number of actuated degrees of freedom. ### Arms -| Name | Robot | Maker | DOF | Format | -|-------------------------------|-----------------------|--------------------------|-----|------------| -| `edo_description` | e.DO | Comau | 6 | URDF | -| `fanuc_m710ic_description` | M-710iC | Fanuc | 6 | URDF | -| `fr3_mj_description` | FR3 | Franka Robotics | 7 | MJCF | -| `gen2_description` | Gen2 | Kinova | 6 | URDF | -| `gen3_description` | Gen3 | Kinova | 6 | URDF | -| `gen3_mj_description` | Gen3 | Kinova | 7 | MJCF | -| `iiwa14_description` | iiwa 14 | KUKA | 7 | URDF | -| `iiwa14_mj_description` | iiwa 14 | KUKA | 7 | MJCF | -| `iiwa7_description` | iiwa 7 | KUKA | 7 | URDF | -| `panda_description` | Panda | Franka Robotics | 8 | URDF | -| `panda_mj_description` | Panda | Franka Robotics | 8 | MJCF | -| `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 | -| `ur5_description` | UR5 | Universal Robots | 6 | URDF | -| `ur5e_mj_description` | UR5e | Universal Robots | 6 | MJCF | -| `viper_mj_description` | ViperX | Trossen Robotics | 8 | MJCF | -| `widow_mj_description` | WidowX | Trossen Robotics | 8 | MJCF | -| `xarm7_mj_description` | xArm7 | UFACTORY | 7 | MJCF | -| `z1_description` | Z1 | UNITREE Robotics | 6 | URDF | +| Name | Robot | Maker | Format | License | +|-------------------------------|-----------------------|--------------------------|------------|--------------| +| `edo_description` | e.DO | Comau | URDF | BSD-3-Clause | +| `fanuc_m710ic_description` | M-710iC | Fanuc | URDF | BSD-3-Clause | +| `fr3_mj_description` | FR3 | Franka Robotics | MJCF | Apache-2.0 | +| `gen2_description` | Gen2 | Kinova | URDF | BSD-3-Clause | +| `gen3_description` | Gen3 | Kinova | URDF | MIT | +| `gen3_mj_description` | Gen3 | Kinova | MJCF | BSD-2-Clause | +| `iiwa14_description` | iiwa 14 | KUKA | URDF | BSD-3-Clause | +| `iiwa14_mj_description` | iiwa 14 | KUKA | MJCF | BSD-3-Clause | +| `iiwa7_description` | iiwa 7 | KUKA | URDF | MIT | +| `panda_description` | Panda | Franka Robotics | URDF | Apache-2.0 | +| `panda_mj_description` | Panda | Franka Robotics | MJCF | Apache-2.0 | +| `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | URDF | GPL-3.0 | +| `sawyer_mj_description` | Sawyer | Rethink Robotics | MJCF | Apache-2.0 | +| `so_arm100` | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 | +| `so_arm100_mj_description` | SO-ARM100 | The Robot Studio | MJCF | Apache-2.0 | +| `ur10_description` | UR10 | Universal Robots | URDF | Apache-2.0 | +| `ur10e_mj_description` | UR10e | Universal Robots | MJCF | BSD-3-Clause | +| `ur3_description` | UR3 | Universal Robots | URDF | Apache-2.0 | +| `ur5_description` | UR5 | Universal Robots | URDF | Apache-2.0 | +| `ur5e_mj_description` | UR5e | Universal Robots | MJCF | BSD-3-Clause | +| `viper_mj_description` | ViperX | Trossen Robotics | MJCF | BSD-3-Clause | +| `widow_mj_description` | WidowX | Trossen Robotics | MJCF | BSD-3-Clause | +| `xarm7_mj_description` | xArm7 | UFACTORY | MJCF | BSD-3-Clause | +| `z1_description` | Z1 | UNITREE Robotics | URDF | BSD-3-Clause | ### Bipeds From 822879f5e634239f3c4e23c867089c891e45cbff Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 24 Feb 2025 14:01:34 +0100 Subject: [PATCH 2/3] Add AgileX PiPER description --- CHANGELOG.md | 1 + README.md | 1 + robot_descriptions/_descriptions.py | 1 + robot_descriptions/_repositories.py | 5 +++++ robot_descriptions/piper_description.py | 21 +++++++++++++++++++++ 5 files changed, 29 insertions(+) create mode 100644 robot_descriptions/piper_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index e343704..227cfa5 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: AgileX PiPER - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan) ## [1.14.0] - 2025-01-07 diff --git a/README.md b/README.md index e7c93b9..0cfe8d0 100644 --- a/README.md +++ b/README.md @@ -143,6 +143,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `iiwa7_description` | iiwa 7 | KUKA | URDF | MIT | | `panda_description` | Panda | Franka Robotics | URDF | Apache-2.0 | | `panda_mj_description` | Panda | Franka Robotics | MJCF | Apache-2.0 | +| `piper_description` | PiPER | AgileX | URDF | MIT | | `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | URDF | GPL-3.0 | | `sawyer_mj_description` | Sawyer | Rethink Robotics | MJCF | Apache-2.0 | | `so_arm100` | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 | diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py index 0d8cefc..e8c25cb 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -107,6 +107,7 @@ def has_urdf(self) -> bool: "panda_description": Description(Format.URDF), "panda_mj_description": Description(Format.MJCF), "pepper_description": Description(Format.URDF), + "piper_description": Description(Format.URDF), "poppy_ergo_jr_description": Description(Format.URDF), "poppy_torso_description": Description(Format.URDF), "pr2_description": Description(Format.URDF), diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 6524bc5..3f4422a 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -180,6 +180,11 @@ class Repository: commit="cd9715bb5df7ad57445d953db7b1924255305944", cache_path="pepper_description", ), + "Piper_ros": Repository( + url="https://github.com/agilexrobotics/Piper_ros.git", + commit="f2ec6a67e1f404bcb478529e89861ccdf43fa298", + cache_path="Piper_ros", + ), "poppy_ergo_jr_description": Repository( url="https://github.com/poppy-project/poppy_ergo_jr_description.git", commit="7eb32bd385afa11dea5e6a6b6a4a86a0243aaa2b", diff --git a/robot_descriptions/piper_description.py b/robot_descriptions/piper_description.py new file mode 100644 index 0000000..93da315 --- /dev/null +++ b/robot_descriptions/piper_description.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2025 Inria + +"""PiPER 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( + "Piper_ros", + commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), +) + +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "src", "piper_description") + +URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "piper_description.urdf") From 6979826f9fb317cd42a475bad648f6c813b76dc5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 24 Feb 2025 14:01:43 +0100 Subject: [PATCH 3/3] Update CONTRIBUTING.md --- CONTRIBUTING.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 4c5405d..e24c5a4 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -20,5 +20,6 @@ The goal of this project is to facilitate loading and sharing of robot descripti - Use the ``mj_description`` suffix for an MJCF description. 4. **Listing:** Add the description metadata to the ``DESCRIPTIONS`` dictionary in ``_descriptions.py``. 5. **README:** Document the description's submodule name in the Descriptions section of the [README](README.md). + - Use an [SPDX License Identifier](https://spdx.org/licenses/) in the License column. 6. **CHANGELOG:** Write down the new model at the top of the [changelog](CHANGELOG.md). 7. **Testing:** Check that all unit tests are successful by ``tox``.