From cc83bcd3949efae5a519e03b85632cae1a123e69 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Thu, 18 Jul 2024 09:31:01 -0400 Subject: [PATCH 1/2] Add shadow dex-ee mj description. --- CHANGELOG.md | 1 + README.md | 1 + robot_descriptions/_repositories.py | 2 +- .../shadow_dexee_mj_description.py | 21 +++++++++++++++++++ 4 files changed, 24 insertions(+), 1 deletion(-) create mode 100644 robot_descriptions/shadow_dexee_mj_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index be00907..61cad35 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file. ### Added +- Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka) - Description: KUKA iiwa 7 (URDF) - Description: Unitree G1 (MJCF) (thanks to @kevinzakka) - Description: Unitree G1 (URDF) (thanks to @lvjonok) diff --git a/README.md b/README.md index 0c2c7df..bb9356f 100644 --- a/README.md +++ b/README.md @@ -202,6 +202,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `barrett_hand_description` | BarrettHand | Barrett Technology | 8 | URDF | | `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | 1 | URDF | | `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF | +| `shadow_dexee_mj_description` | Shadow DEX-EE | The Shadow Robot Company | 12 | MJCF | | `shadow_hand_mj_description` | Shadow Hand | The Shadow Robot Company | 24 | MJCF | ### Humanoids diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index aeec616..0c67476 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -152,7 +152,7 @@ class Repository: ), "mujoco_menagerie": Repository( url="https://github.com/deepmind/mujoco_menagerie.git", - commit="3ff28577c3d5e9c63b2bf84489c45b851745b8d0", + commit="bf50a5bd3c0ae757f768893bb06d4595df8e346f", cache_path="mujoco_menagerie", ), "nao_robot": Repository( diff --git a/robot_descriptions/shadow_dexee_mj_description.py b/robot_descriptions/shadow_dexee_mj_description.py new file mode 100644 index 0000000..817f4b4 --- /dev/null +++ b/robot_descriptions/shadow_dexee_mj_description.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2022 Stéphane Caron + +"""Shadow DEX-EE 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, "shadow_dexee") + +MJCF_PATH: str = _path.join(PACKAGE_PATH, "shadow_dexee.xml") From d7c29ba4d131e2bf8b59e1887413e2d81c59ffa5 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Thu, 18 Jul 2024 09:33:23 -0400 Subject: [PATCH 2/2] Add stretch 3 mj description. --- CHANGELOG.md | 1 + README.md | 1 + .../stretch_3_mj_description.py | 20 +++++++++++++++++++ 3 files changed, 22 insertions(+) create mode 100644 robot_descriptions/stretch_3_mj_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 61cad35..0407f3c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file. ### Added +- Description: Stretch 3 (MJCF) (thanks to @kevinzakka) - Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka) - Description: KUKA iiwa 7 (URDF) - Description: Unitree G1 (MJCF) (thanks to @kevinzakka) diff --git a/README.md b/README.md index bb9356f..fb39337 100644 --- a/README.md +++ b/README.md @@ -240,6 +240,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `reachy_description` | Reachy | Pollen Robotics | 21 | URDF | | `stretch_description` | Stretch RE1 | Hello Robot | 14 | URDF | | `sretch_mj_description` | Stretch 2 | Hello Robot | 14 | MJCF | +| `sretch_3_mj_description` | Stretch 3 | Hello Robot | 14 | MJCF | | `tiago_description` | TIAGo | PAL Robotics | 48 | URDF | ### Quadrupeds diff --git a/robot_descriptions/stretch_3_mj_description.py b/robot_descriptions/stretch_3_mj_description.py new file mode 100644 index 0000000..6d09e0b --- /dev/null +++ b/robot_descriptions/stretch_3_mj_description.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 + +"""Stretch 3 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, "hello_robot_stretch_3") + +MJCF_PATH: str = _path.join(PACKAGE_PATH, "stretch.xml")