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Merged
merged 3 commits into from
Feb 24, 2025
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Add AgileX PiPER description #121

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c99c73e
Add License column to Arms in the readme
stephane-caron Feb 24, 2025
822879f
Add AgileX PiPER description
stephane-caron Feb 24, 2025
6979826
Update CONTRIBUTING.md
stephane-caron Feb 24, 2025
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions CONTRIBUTING.md
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Expand Up @@ -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``.
53 changes: 27 additions & 26 deletions README.md
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Expand Up @@ -130,32 +130,33 @@ 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 |
| `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 |
| `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

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1 change: 1 addition & 0 deletions robot_descriptions/_descriptions.py
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Expand Up @@ -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),
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5 changes: 5 additions & 0 deletions robot_descriptions/_repositories.py
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Expand Up @@ -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",
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21 changes: 21 additions & 0 deletions robot_descriptions/piper_description.py
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@@ -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")