Adding AgileX PiPER to gallery.

PiperOrigin-RevId: 730354030
Change-Id: I87ab830ed0557e6b342f84168a62840363ca1599

Author: kevinzakka

README.md

@@ -28,10 +28,10 @@ well right out of the gate.
 
 |<img src="assets/franka_fr3-fr3.png" width=100>|<img src="assets/kinova_gen3-gen3.png" width=100>|<img src="assets/kuka_iiwa_14-iiwa14.png" width=100>|<img src="assets/ufactory_lite6-lite6.png" width=100>|<img src="assets/franka_emika_panda-panda.png" width=100>|
 | :---: | :---: | :---: | :---: | :---: |
-|<img src="assets/rethink_robotics_sawyer-sawyer.png" width=100>|<img src="assets/universal_robots_ur10e-ur10e.png" width=100>|<img src="assets/universal_robots_ur5e-ur5e.png" width=100>|<img src="assets/trossen_vx300s-vx300s.png" width=100>|<img src="assets/ufactory_xarm7-xarm7.png" width=100>|
-|<img src="assets/unitree_z1-z1.png" width=100>|<img src="assets/aloha-aloha.png" width=100>|<img src="assets/robotiq_2f85-2f85.png" width=100>|<img src="assets/franka_emika_panda-hand.png" width=100>|<img src="assets/ufactory_xarm7-hand.png" width=100>|
-|<img src="assets/wonik_allegro-left_hand.png" width=100>|<img src="assets/shadow_hand-left_hand.png" width=100>|<img src="assets/leap_hand-left_hand.png" width=100>|<img src="assets/shadow_dexee-shadow_dexee.png" width=100>|<img src="assets/google_robot-robot.png" width=100>|
-|<img src="assets/hello_robot_stretch-stretch.png" width=100>|<img src="assets/unitree_a1-a1.png" width=100>|<img src="assets/anybotics_anymal_b-anymal_b.png" width=100>|<img src="assets/anybotics_anymal_c-anymal_c.png" width=100>|<img src="assets/google_barkour_v0-barkour_v0.png" width=100>|
+|<img src="assets/agilex_piper-piper.png" width=100>|<img src="assets/rethink_robotics_sawyer-sawyer.png" width=100>|<img src="assets/universal_robots_ur10e-ur10e.png" width=100>|<img src="assets/universal_robots_ur5e-ur5e.png" width=100>|<img src="assets/trossen_vx300s-vx300s.png" width=100>|
+|<img src="assets/ufactory_xarm7-xarm7.png" width=100>|<img src="assets/unitree_z1-z1.png" width=100>|<img src="assets/aloha-aloha.png" width=100>|<img src="assets/robotiq_2f85-2f85.png" width=100>|<img src="assets/franka_emika_panda-hand.png" width=100>|
+|<img src="assets/ufactory_xarm7-hand.png" width=100>|<img src="assets/wonik_allegro-left_hand.png" width=100>|<img src="assets/shadow_hand-left_hand.png" width=100>|<img src="assets/leap_hand-left_hand.png" width=100>|<img src="assets/shadow_dexee-shadow_dexee.png" width=100>|
+|<img src="assets/google_robot-robot.png" width=100>|<img src="assets/unitree_a1-a1.png" width=100>|<img src="assets/anybotics_anymal_b-anymal_b.png" width=100>|<img src="assets/anybotics_anymal_c-anymal_c.png" width=100>|<img src="assets/google_barkour_v0-barkour_v0.png" width=100>|
 |<img src="assets/google_barkour_vb-barkour_vb.png" width=100>|<img src="assets/unitree_go1-go1.png" width=100>|<img src="assets/unitree_go2-go2.png" width=100>|<img src="assets/boston_dynamics_spot-spot_arm.png" width=100>|<img src="assets/agility_cassie-cassie.png" width=100>|
 |<img src="assets/unitree_g1-g1.png" width=100>|<img src="assets/unitree_h1-h1.png" width=100>|<img src="assets/robotis_op3-op3.png" width=100>|<img src="assets/booster_t1-t1.png" width=100>|<img src="assets/pal_talos-talos.png" width=100>|
 |<img src="assets/bitcraze_crazyflie_2-cf2.png" width=100>|<img src="assets/skydio_x2-x2.png" width=100>|<img src="assets/flybody-fruitfly.png" width=100>|<img src="assets/realsense_d435i-d435i.png" width=100>||

assets/agilex_piper-piper.png

@@ -90,6 +90,7 @@ class ModelType(int, enum.Enum):
     "shadow_hand/left_hand": "left shadow",
     "kinova_gen3/gen3": "gen3",
     "booster_t1/t1": "t1",
+    "agilex_piper/piper": "piper",
 }
 
 MODEL_MAP = {
@@ -132,6 +133,7 @@ class ModelType(int, enum.Enum):
     "leap_hand/left_hand": ModelType.END_EFFECTOR,
     "kinova_gen3/gen3": ModelType.ARM,
     "booster_t1/t1": ModelType.HUMANOID,
+    "agilex_piper/piper": ModelType.ARM,
 }
 
 DEFAULT_FOV = 40
@@ -325,6 +327,11 @@ class ModelType(int, enum.Enum):
         xyaxes="0.453 0.892 0.000 -0.295 0.150 0.944",
         fovy=DEFAULT_FOV,
     ),
+    "agilex_piper/piper": dict(
+        pos="0.288 -0.480 0.294",
+        xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940",
+        fovy=50,
+    ),
 }
 
 # pylint: disable=line-too-long
@@ -339,7 +346,7 @@ class ModelType(int, enum.Enum):
 }
 # pylint: enable=line-too-long
 
-KEEP_LIGHT = ["go1", "a1", "op3", "aloha", "left_hand", "stretch"]
+KEEP_LIGHT = ["go1", "a1", "op3", "aloha", "left_hand", "stretch", "piper"]
 
 
 def create_arena():