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Add Berkeley Humanoid description
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‎CHANGELOG.md

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## [Unreleased]
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### Added
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- Description: Berkeley Humanoid
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## [1.13.0] - 2024-10-30
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### Added

‎README.md

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### Humanoids
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| Name | Robot | Maker | DOF | Format |
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|-------------------------------|-----------------------|--------------------------|-----|------------|
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| `atlas_drc_description` | Atlas DRC (v3) | Boston Dynamics | 30 | URDF |
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| `atlas_v4_description` | Atlas v4 | Boston Dynamics | 30 | URDF |
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| `draco3_description` | Draco3 | Apptronik | 25 | URDF |
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| `ergocub_description` | ergoCub | IIT | 57 | URDF |
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| `g1_description` | G1 | UNITREE Robotics | 37 | URDF |
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| `g1_mj_description` | G1 | UNITREE Robotics | 37 | MJCF |
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| `h1_description` | H1 | UNITREE Robotics | 25 | URDF |
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| `h1_mj_description` | H1 | UNITREE Robotics | 25 | MJCF |
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| `icub_description` | iCub | IIT | 32 | URDF |
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| `jaxon_description` | JAXON | JSK | 38 | URDF |
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| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
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| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
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| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
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| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
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| `romeo_description` | Romeo | Aldebaran Robotics | 37 | URDF |
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| `sigmaban_description` | SigmaBan | Rhoban | 20 | URDF |
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| `talos_description` | TALOS | PAL Robotics | 32 | URDF |
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| `talos_mj_description` | TALOS | PAL Robotics | 32 | MJCF |
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| `valkyrie_description` | Valkyrie | NASA JSC Robotics | 59 | URDF |
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| Name | Robot | Maker | DOF | Format |
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|---------------------------------|-----------------------|--------------------------|-----|------------|
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| `atlas_drc_description` | Atlas DRC (v3) | Boston Dynamics | 30 | URDF |
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| `atlas_v4_description` | Atlas v4 | Boston Dynamics | 30 | URDF |
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| `berkeley_humanoid_description` | Berkeley Humanoid | Hybrid Robotics | 12 | URDF |
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| `draco3_description` | Draco3 | Apptronik | 25 | URDF |
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| `ergocub_description` | ergoCub | IIT | 57 | URDF |
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| `g1_description` | G1 | UNITREE Robotics | 37 | URDF |
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| `g1_mj_description` | G1 | UNITREE Robotics | 37 | MJCF |
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| `h1_description` | H1 | UNITREE Robotics | 25 | URDF |
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| `h1_mj_description` | H1 | UNITREE Robotics | 25 | MJCF |
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| `icub_description` | iCub | IIT | 32 | URDF |
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| `jaxon_description` | JAXON | JSK | 38 | URDF |
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| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
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| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
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| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
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| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
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| `romeo_description` | Romeo | Aldebaran Robotics | 37 | URDF |
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| `sigmaban_description` | SigmaBan | Rhoban | 20 | URDF |
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| `talos_description` | TALOS | PAL Robotics | 32 | URDF |
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| `talos_mj_description` | TALOS | PAL Robotics | 32 | MJCF |
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| `valkyrie_description` | Valkyrie | NASA JSC Robotics | 59 | URDF |
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### Mobile manipulators
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‎robot_descriptions/_descriptions.py

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"b2_description": Description(Format.URDF),
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"barrett_hand_description": Description(Format.URDF),
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"baxter_description": Description(Format.URDF),
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"berkeley_humanoid": Description(Format.URDF),
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"bolt_description": Description(Format.URDF),
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"cassie_description": Description(Format.URDF),
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"cassie_mj_description": Description(Format.MJCF),

‎robot_descriptions/_repositories.py

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commit="v1.2.0",
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cache_path="baxter_common",
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),
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"berkeley_humanoid_description": Repository(
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url="https://github.com/jhu-lcsr-attic/bhand_model.git",
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commit="d0d13d3f81d795480e25ed1910eaf83d5f0a1d0b",
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cache_path="berkeley_humanoid_description",
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),
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"bhand_model": Repository(
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url="https://github.com/jhu-lcsr-attic/bhand_model.git",
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commit="937f4186d6458bd682a7dae825fb6f4efe56ec69",

‎robot_descriptions/berkeley_humanoid_description.py

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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# Copyright 2024 Inria
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"""Berkeley Humanoid description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"berkeley_humanoid_description",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
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URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")

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