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_descriptions.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0
# Copyright 2022 Stéphane Caron
"""List of all robot descriptions."""
from dataclasses import dataclass
from enum import IntEnum
from typing import Dict, Set
class Format(IntEnum):
"""Format of a robot description."""
URDF = 0
MJCF = 1
@dataclass
class Description:
"""Metadata for a robot description.
Attributes:
formats: List of formats (URDF, MJCF) provided by the description.
"""
formats: Set[Format]
def __init__(self, single_format):
"""Initialize a description that provides a single format.
Args:
single_format: Format provided by the description.
"""
self.formats = {single_format}
@property
def has_mjcf(self) -> bool:
"""Check if description provides MJCF."""
return Format.MJCF in self.formats
@property
def has_urdf(self) -> bool:
"""Check if description provides URDF."""
return Format.URDF in self.formats
DESCRIPTIONS: Dict[str, Description] = {
"a1_description": Description(Format.URDF),
"a1_mj_description": Description(Format.MJCF),
"aliengo_description": Description(Format.URDF),
"aliengo_mj_description": Description(Format.MJCF),
"aloha_mj_description": Description(Format.MJCF),
"allegro_hand_description": Description(Format.URDF),
"allegro_hand_mj_description": Description(Format.MJCF),
"anymal_b_description": Description(Format.URDF),
"anymal_b_mj_description": Description(Format.MJCF),
"anymal_c_description": Description(Format.URDF),
"anymal_c_mj_description": Description(Format.MJCF),
"anymal_d_description": Description(Format.URDF),
"atlas_drc_description": Description(Format.URDF),
"atlas_v4_description": Description(Format.URDF),
"b1_description": Description(Format.URDF),
"b2_description": Description(Format.URDF),
"barrett_hand_description": Description(Format.URDF),
"baxter_description": Description(Format.URDF),
"berkeley_humanoid_description": Description(Format.URDF),
"bolt_description": Description(Format.URDF),
"cassie_description": Description(Format.URDF),
"cassie_mj_description": Description(Format.MJCF),
"cf2_description": Description(Format.URDF),
"cf2_mj_description": Description(Format.MJCF),
"double_pendulum_description": Description(Format.URDF),
"draco3_description": Description(Format.URDF),
"edo_description": Description(Format.URDF),
"ergocub_description": Description(Format.URDF),
"eve_r3_description": Description(Format.URDF),
"fanuc_m710ic_description": Description(Format.URDF),
"fetch_description": Description(Format.URDF),
"finger_edu_description": Description(Format.URDF),
"g1_mj_description": Description(Format.MJCF),
"gen2_description": Description(Format.URDF),
"gen3_description": Description(Format.URDF),
"gen3_mj_description": Description(Format.MJCF),
"ginger_description": Description(Format.URDF),
"go1_description": Description(Format.URDF),
"go1_mj_description": Description(Format.MJCF),
"g1_description": Description(Format.URDF),
"h1_description": Description(Format.URDF),
"h1_mj_description": Description(Format.MJCF),
"hyq_description": Description(Format.URDF),
"icub_description": Description(Format.URDF),
"iiwa7_description": Description(Format.URDF),
"iiwa14_description": Description(Format.URDF),
"iiwa14_mj_description": Description(Format.MJCF),
"jaxon_description": Description(Format.URDF),
"jvrc_description": Description(Format.URDF),
"jvrc_mj_description": Description(Format.MJCF),
"laikago_description": Description(Format.URDF),
"leap_hand_v1": Description(Format.URDF),
"leap_hand_mj_description": Description(Format.MJCF),
"mini_cheetah_description": Description(Format.URDF),
"minitaur_description": Description(Format.URDF),
"nextage_description": Description(Format.URDF),
"op3_mj_description": Description(Format.MJCF),
"panda_description": Description(Format.URDF),
"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),
"r2_description": Description(Format.URDF),
"reachy_description": Description(Format.URDF),
"rhea_description": Description(Format.URDF),
"robotiq_2f85_description": Description(Format.URDF),
"robotiq_2f85_mj_description": Description(Format.MJCF),
"robotiq_2f85_v4_mj_description": Description(Format.MJCF),
"romeo_description": Description(Format.URDF),
"rsk_description": Description(Format.URDF),
"sawyer_mj_description": Description(Format.MJCF),
"shadow_hand_mj_description": Description(Format.MJCF),
"simple_humanoid_description": Description(Format.URDF),
"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),
"stretch_mj_description": Description(Format.MJCF),
"talos_description": Description(Format.URDF),
"talos_mj_description": Description(Format.MJCF),
"tiago_description": Description(Format.URDF),
"trifinger_edu_description": Description(Format.URDF),
"upkie_description": Description(Format.URDF),
"ur10_description": Description(Format.URDF),
"ur10e_mj_description": Description(Format.MJCF),
"ur3_description": Description(Format.URDF),
"ur5_description": Description(Format.URDF),
"ur5e_mj_description": Description(Format.MJCF),
"valkyrie_description": Description(Format.URDF),
"viper_mj_description": Description(Format.MJCF),
"widow_mj_description": Description(Format.MJCF),
"xarm7_mj_description": Description(Format.MJCF),
"yumi_description": Description(Format.URDF),
"z1_description": Description(Format.URDF),
"z1_mj_description": Description(Format.MJCF),
}