Merge pull request #167 from kevinzakka/cleanup

Cleanup newly added models.

Author: kevinzakka

README.md

@@ -46,6 +46,7 @@ well right out of the gate.
 - [Menagerie Models](#menagerie-models)
 - [Citing Menagerie](#citing-menagerie)
 - [Acknowledgments](#acknowledgments)
+- [Changelog](#changelog)
 - [License and Disclaimer](#license-and-disclaimer)
 
 ## Getting Started
@@ -229,17 +230,24 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
 | PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️|
 
+**Mobile Bases.**
+
+| Name | Maker | DoFs    | License | MJX |
+|------|-------|---------|---------|-----|
+| Omniwheel Soccer Robot | Robot Soccer Kit | 4 | [MIT](robot_soccer_kit/LICENSE) |✖️|
+
 **Humanoids.**
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| Adam Lite | PNDbotics | 25 | [MIT](pndbotics_adam_lite/LICENSE) |✖️|
 | Apptronik Apollo | Apptronik | 32 | [Apache-2.0](apptronik_apollo/LICENSE) |✔️|
 | Berkeley Humanoid | Hybrid Robotics | 12 | [BSD-3-Clause](berkeley_humanoid/LICENSE) |✖️|
 | Booster T1 | Booster Robotics | 23 | [Apache-2.0](booster_t1/LICENSE) |✖️|
 | Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️|
+| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
 | Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️|
 | Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|
-| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
 
 **Quadrupeds.**
 
@@ -258,6 +266,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| IIT Softfoot | IIT Softbots | 92 | [BSD-3-Clause](iit_softfoot/LICENSE) |✖️|
 | flybody | Google DeepMind, HHMI Janelia Research Campus | 102 | [Apache-2.0](flybody/LICENSE) |✖️|
 
 **Miscellaneous.**

arx_l5/arx_l5.xml

@@ -128,4 +128,4 @@
   <keyframe>
     <key name="home" qpos="0 0.251 0.314 0 0 0 0.044 -0.044" ctrl="0 0.251 0.314 0 0 0 0.044"/>
   </keyframe>
-</mujoco>
+</mujoco>

arx_l5/scene.xml

@@ -20,4 +20,4 @@
     <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody>
-</mujoco>
+</mujoco>

dynamixel_2r/README.md

@@ -20,8 +20,8 @@ The [config.json](config.json) with export configuration file is also present in
 
 ## See also
 
-* [BAM repository](https://github.com/rhoban/bam): exploring extended modeling of the friction
+* [BAM repository](https://github.com/rhoban/bam): exploring extended modeling of the friction.
 
 ## License
 
-This model is released under a [MIT License](LICENSE)
+This model is released under an [MIT License](LICENSE).

dynamixel_2r/dynamixel_2r.xml

@@ -1,24 +1,23 @@
 <mujoco model="scene">
-    <include file="dynamixel_2r.xml" />
+  <include file="dynamixel_2r.xml"/>
 
-    <visual>
-        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
-        <rgba haze="0.15 0.25 0.35 1" />
-        <global azimuth="160" elevation="-20" />
-    </visual>
+  <statistic center="0 0 0.3" extent=".6"/>
 
-    <asset>
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
-            height="3072" />
-        <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
-            rgb2="0.1 0.2 0.3"
-            markrgb="0.8 0.8 0.8" width="300" height="300" />
-        <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
-            reflectance="0.2" />
-    </asset>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="160" elevation="-20"/>
+  </visual>
 
-    <worldbody>
-        <light pos="0 0 3.5" dir="0 0 -1" directional="true" />
-        <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
-    </worldbody>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane"/>
+  </worldbody>
 </mujoco>

dynamixel_2r/scene.xml

@@ -1,6 +1,7 @@
 # IIT SoftFoot Description (MJCF)
 
-Requires MuJoCo 3.2.0 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 3.2.0 or later.
 
 ## Overview
 
@@ -16,16 +17,15 @@ This package is a reproduction of the simplified robot description (MJCF) develo
 ## Usage
 
 The SoftFoot model is intended to be attached as an end effector to a legged robot. This can be achieved through several methods:
+
 - Using the `<attach/>` element in the robot MJCF, and referencing the `attachment_cube` body from the softfoot MJCF. The provided example `scene.xml` uses this method.
 - Procedurally attaching it through [`mjSpec`](https://mujoco.readthedocs.io/en/stable/programming/modeledit.html).
 - Adding the SoftFoot to the MJCF through the [`mjcf` python module](https://github.com/google-deepmind/dm_control/tree/main/dm_control/mjcf).
 
-
 ## License
 
 This model is released under an [BSD-3-Clause License](LICENSE).
 
-
 ## Publications
 
 If you use this work in an academic context, please cite the following publications:
@@ -52,13 +52,12 @@ If you use this work in an academic context, please cite the following publicati
 
     @article{softfoot2024,
         author={Piazza, Cristina and Santina, Cosimo Della and Grioli, Giorgio and Bicchi, Antonio and Catalano, Manuel G.},
-        journal={IEEE Transactions on Robotics}, 
-        title={Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains}, 
+        journal={IEEE Transactions on Robotics},
+        title={Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains},
         year={2024},
         volume={40},
         number={},
         pages={3290-3305},
         keywords={Foot;Robots;Legged locomotion;Stability analysis;Robot kinematics;Shape;Humanoid robots;Adaptive foot;humanoid robots;soft robots},
         doi={10.1109/TRO.2024.3415237}
     }
-

iit_softfoot/README.md

@@ -1,8 +1,7 @@
+<!-- This example scene attaches to a foot to a simple loading test rig, demonstrating
+the foot's compliance against an obstacle.-->
 <mujoco model="softfoot scene">
-  <!-- This example scene attaches to a foot to a simple loading test rig, demonstrating the foot's 
-  compliance against an obstacle.-->
-
-  <statistic center="0 0 0.55" extent="1.1"/>
+  <statistic center="0 0 0.1" extent=".3"/>
 
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
@@ -27,6 +26,7 @@
     </body>
     <geom type="cylinder" euler="90 0 0" rgba="0.8 0.7 0.2 1" size="0.025 0.1"/>
   </worldbody>
+
   <actuator>
     <position joint="load" kp="1000" ctrllimited="true" ctrlrange="0 0.3"/>
   </actuator>