From 15e365090105564c84ecc4592560038aef172c57 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 24 Feb 2025 14:35:23 +0100 Subject: [PATCH 1/2] Update mujoco_menagerie to latest commit --- robot_descriptions/_repositories.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 3f4422a..56eb68d 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="dec370da8895f4a04c20bae57a52f3bd16148ee6", + commit="d3b4507788d70ccc150cf7a5090e99167f6159b1", cache_path="mujoco_menagerie", ), "nao_robot": Repository( From 5c1f96a4f76384ef885eb11821c0d5fb421c853f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Thu, 6 Mar 2025 14:30:37 +0100 Subject: [PATCH 2/2] Add AgileX PiPER MJCF description --- CHANGELOG.md | 3 ++- README.md | 1 + robot_descriptions/_descriptions.py | 1 + robot_descriptions/piper_mj_description.py | 21 +++++++++++++++++++++ 4 files changed, 25 insertions(+), 1 deletion(-) create mode 100644 robot_descriptions/piper_mj_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 8447933..0c105aa 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,7 +6,8 @@ All notable changes to this project will be documented in this file. ### Added -- Description: AgileX PiPER +- Description: AgileX PiPER (MJCF) +- Description: AgileX PiPER (URDF) - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan) ### Fixed diff --git a/README.md b/README.md index 0cfe8d0..07499d9 100644 --- a/README.md +++ b/README.md @@ -144,6 +144,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `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 | +| `piper_mj_description` | PiPER | AgileX | MJCF | 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 e8c25cb..4c981b4 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -108,6 +108,7 @@ def has_urdf(self) -> bool: "panda_mj_description": Description(Format.MJCF), "pepper_description": Description(Format.URDF), "piper_description": Description(Format.URDF), + "piper_mj_description": Description(Format.MJCF), "poppy_ergo_jr_description": Description(Format.URDF), "poppy_torso_description": Description(Format.URDF), "pr2_description": Description(Format.URDF), diff --git a/robot_descriptions/piper_mj_description.py b/robot_descriptions/piper_mj_description.py new file mode 100644 index 0000000..9ce6b12 --- /dev/null +++ b/robot_descriptions/piper_mj_description.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2025 Inria + +"""PiPER 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, "agilex_piper") + +MJCF_PATH: str = _path.join(PACKAGE_PATH, "scene.xml")