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‎CHANGELOG.md

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@@ -6,11 +6,39 @@ All notable changes to this project will be documented in this file.
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### Added
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- Description: UFACTORY xArm7 (MJCF) (thanks to @kevinzakka)
10+
11+
### Changed
12+
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- Split Aliengo into MJCF and URDF descriptions (thanks to @Danfoa)
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- Update Aliengo URDF to a more active repository (thanks to @Danfoa)
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## [1.9.0] - 2024-03-27
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### Added
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920
- Citation file and BibTeX section in the readme
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- Description: Allegro Hand V3 (MJCF) (thanks to @kevinzakka)
22+
- Description: ALOHA 2 (MJCF) (thanks to @kevinzakka)
23+
- Description: Bitcraze Crazyflie 2.0 (MJCF) (thanks to @kevinzakka)
24+
- Description: KUKA iiwa 14 (MJCF) (thanks to @kevinzakka)
25+
- Description: Robotics OP3 (MJCF) (thanks to @kevinzakka)
26+
- Description: Saywer (MJCF) (thanks to @kevinzakka)
27+
- Description: Stretch 2 (MJCF) (thanks to @kevinzakka)
28+
- Description: ViperX 300 6DOF (MJCF) (thanks to @kevinzakka)
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1130
### Changed
1231

13-
- Update Upkie description to v1.5.0
32+
- Go1: Switch repository to MuJoCo Menagerie
33+
- Go2: Switch repository to MuJoCo Menagerie
34+
- H1: Switch repository to MuJoCo Menagerie
35+
- JVRC-1: Update repository to maintained one at jrl-umi3218
36+
- Upkie: Update repository to v1.5.0
37+
38+
### Fixed
39+
40+
- Bug when cloning a non-pinned description after a commit-pinned one
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- Package name resolution when pinning a description to a specific commit
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## [1.8.1] - 2024-01-29
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@@ -312,7 +340,8 @@ This initial release includes 33 robot descriptions:
312340
- Contributing instructions
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- This changelog
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315-
[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.1...HEAD
343+
[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v1.9.0...HEAD
344+
[1.9.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.1...v1.9.0
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[1.8.1]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.0...v1.8.1
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[1.8.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.7.0...v1.8.0
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[1.7.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.6.0...v1.7.0

‎CITATION.cff

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@@ -1,7 +1,7 @@
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cff-version: 1.2.0
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message: "If you find this code helpful, please cite it as below."
33
title: "robot_descriptions.py: Robot descriptions in Python"
4-
version: 1.8.1
4+
version: 1.9.0
55
date-released: 2024-01-29
66
url: "https://github.com/robot-descriptions/robot_descriptions.py"
77
license: "Apache-2.0"
@@ -21,3 +21,5 @@ authors:
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orcid: "https://orcid.org/0000-0002-7336-1443"
2222
- family-names: "Bang"
2323
given-names: "Seung Hyeon"
24+
- family-names: "Zakka"
25+
given-names: "Kevin"

‎README.md

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@@ -12,13 +12,17 @@ Importing a description for the first time automatically downloads and caches fi
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## Installation
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### Install from pip
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### PyPI
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[![PyPI version](https://img.shields.io/pypi/v/robot_descriptions)](https://pypi.org/project/robot_descriptions/)
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```console
1820
pip install robot_descriptions
1921
```
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21-
### Install from conda
23+
### Conda
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[![Conda Version](https://img.shields.io/conda/vn/conda-forge/robot_descriptions.svg)](https://anaconda.org/conda-forge/robot_descriptions)
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```console
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conda install -c conda-forge robot_descriptions
@@ -111,15 +115,15 @@ robot_descriptions show solo_description
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Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
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114-
* [Arms](#arms)
115-
* [Bipeds](#bipeds)
116-
* [Dual arms](#dual-arms)
117-
* [Drones](#drones)
118-
* [Educational](#educational)
119-
* [End effectors](#end-effectors)
120-
* [Mobile manipulators](#mobile-manipulators)
121-
* [Humanoids](#humanoids)
122-
* [Quadrupeds](#quadrupeds)
118+
- [Arms](#arms)
119+
- [Bipeds](#bipeds)
120+
- [Dual arms](#dual-arms)
121+
- [Drones](#drones)
122+
- [Educational](#educational)
123+
- [End effectors](#end-effectors)
124+
- [Humanoids](#humanoids)
125+
- [Mobile manipulators](#mobile-manipulators)
126+
- [Quadrupeds](#quadrupeds)
123127

124128
The DOF column denotes the number of actuated degrees of freedom.
125129

@@ -133,14 +137,18 @@ The DOF column denotes the number of actuated degrees of freedom.
133137
| `gen3_description` | Gen3 (Jaco) | Kinova | 6 | URDF |
134138
| `gen3_mj_description` | Gen3 (Jaco) | Kinova | 7 | MJCF |
135139
| `iiwa_description` | iiwa | KUKA | 7 | URDF |
140+
| `iiwa_mj_description` | iiwa14 | KUKA | 7 | MJCF |
136141
| `panda_description` | Panda | Franka Emika | 8 | URDF |
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| `panda_mj_description` | Panda | Franka Emika | 8 | MJCF |
138143
| `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | 6 | URDF |
144+
| `sawyer_mj_description` | Sawyer | Rethink Robotics | 7 | MJCF |
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| `ur10_description` | UR10 | Universal Robots | 6 | URDF |
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| `ur10e_mj_description` | UR10e | Universal Robots | 6 | MJCF |
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| `ur3_description` | UR3 | Universal Robots | 6 | URDF |
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| `ur5_description` | UR5 | Universal Robots | 6 | URDF |
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| `ur5e_mj_description` | UR5e | Universal Robots | 6 | MJCF |
150+
| `viper_mj_description` | Viper | Trossen Robotics | 7 | MJCF |
151+
| `xarm7_mj_description` | xArm7 | UFACTORY | 7 | MJCF |
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| `z1_description` | Z1 | UNITREE Robotics | 6 | URDF |
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### Bipeds
@@ -158,6 +166,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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159167
| Name | Robot | Maker | DOF | Format |
160168
|-------------------------------|-----------------------|--------------------------|-----|------------|
169+
| `aloha_mj_description` | Aloha 2 | Trossen Robotics | 14 | MJCF |
161170
| `baxter_description` | Baxter | Rethink Robotics | 15 | URDF |
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| `nextage_description` | NEXTAGE | Kawada Robotics | 15 | URDF |
163172
| `poppy_torso_description` | Poppy Torso | Poppy Project | 13 | URDF |
@@ -168,6 +177,7 @@ The DOF column denotes the number of actuated degrees of freedom.
168177
| Name | Robot | Maker | DOF | Format |
169178
|-------------------------------|-----------------------|--------------------------|-----|------------|
170179
| `cf2_description` | Crazyflie 2.0 | Bitcraze | 0 | URDF |
180+
| `cf2_mj_description` | Crazyflie 2.0 | Bitcraze | 6 | MJCF |
171181
| `skydio_x2_description` | Skydio X2 | Skydio | 6 | URDF |
172182
| `skydio_x2_mj_description` | Skydio X2 | Skydio | 6 | MJCF |
173183

@@ -185,6 +195,7 @@ The DOF column denotes the number of actuated degrees of freedom.
185195
| Name | Robot | Maker | DOF | Format |
186196
|-------------------------------|-----------------------|--------------------------|-----|------------|
187197
| `allegro_hand_description` | Allegro Hand | Wonik Robotics | 16 | URDF |
198+
| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | 16 | MJCF |
188199
| `barrett_hand_description` | BarrettHand | Barrett Technology | 8 | URDF |
189200
| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | 1 | URDF |
190201
| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF |
@@ -204,6 +215,7 @@ The DOF column denotes the number of actuated degrees of freedom.
204215
| `jaxon_description` | JAXON | JSK | 38 | URDF |
205216
| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
206217
| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
218+
| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
207219
| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
208220
| `romeo_description` | Romeo | Aldebaran Robotics | 37 | URDF |
209221
| `sigmaban_description` | SigmaBan | Rhoban | 20 | URDF |
@@ -221,20 +233,22 @@ The DOF column denotes the number of actuated degrees of freedom.
221233
| `pr2_description` | PR2 | Willow Garage | 32 | URDF |
222234
| `reachy_description` | Reachy | Pollen Robotics | 21 | URDF |
223235
| `stretch_description` | Stretch RE1 | Hello Robot | 14 | URDF |
236+
| `sretch_mj_description` | Stretch 2 | Hello Robot | 14 | MJCF |
224237
| `tiago_description` | TIAGo | PAL Robotics | 48 | URDF |
225238

226239
### Quadrupeds
227240

228241
| Name | Robot | Maker | DOF | Format |
229242
|-------------------------------|-----------------------|--------------------------|-----|------------|
230-
| `a1_mj_description` | A1 | UNITREE Robotics | 12 | MJCF |
231243
| `a1_description` | A1 | UNITREE Robotics | 12 | URDF |
232-
| `b1_description` | B1 | UNITREE Robotics | 12 | URDF |
233-
| `aliengo_description` | Aliengo | UNITREE Robotics | 12 | MJCF, URDF |
234-
| `anymal_b_mj_description` | ANYmal B | ANYbotics | 12 | MJCF |
244+
| `a1_mj_description` | A1 | UNITREE Robotics | 12 | MJCF |
245+
| `aliengo_description` | Aliengo | UNITREE Robotics | 12 | URDF |
246+
| `aliengo_mj_description` | Aliengo | UNITREE Robotics | 12 | MJCF |
235247
| `anymal_b_description` | ANYmal B | ANYbotics | 12 | URDF |
248+
| `anymal_b_mj_description` | ANYmal B | ANYbotics | 12 | MJCF |
236249
| `anymal_c_description` | ANYmal C | ANYbotics | 12 | URDF |
237250
| `anymal_c_mj_description` | ANYmal C | ANYbotics | 12 | MJCF |
251+
| `b1_description` | B1 | UNITREE Robotics | 12 | URDF |
238252
| `go1_description` | Go1 | UNITREE Robotics | 12 | URDF |
239253
| `go1_mj_description` | Go1 | UNITREE Robotics | 12 | MJCF |
240254
| `go2_description` | Go2 | UNITREE Robotics | 12 | URDF |
@@ -259,12 +273,12 @@ If you use `robot_descriptions.py` in your scientific works, please cite it *e.g
259273

260274
```bibtex
261275
@software{robot_descriptions_py2024,
262-
author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordonez, Daniel and Tadashi Kussaba, Hugo and Bang, Seung Hyeon},
276+
author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordonez, Daniel and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin},
263277
license = {Apache-2.0},
264-
month = feb,
278+
month = mar,
265279
title = {{robot_descriptions.py: Robot descriptions in Python}},
266280
url = {https://github.com/robot-descriptions/robot_descriptions.py},
267-
version = {1.8.1},
281+
version = {1.9.0},
268282
year = {2024}
269283
}
270284
```

‎robot_descriptions/__init__.py

+1-1
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66

77
"""Import open source robot description as Python modules."""
88

9-
__version__ = "1.8.1"
9+
__version__ = "1.9.0"

‎robot_descriptions/_cache.py

+15-1
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@@ -130,11 +130,25 @@ def clone_to_cache(description_name: str, commit: Optional[str] = None) -> str:
130130

131131
cache_path = repository.cache_path
132132
if commit is not None:
133-
cache_path += f"-{commit}"
133+
# Requirement: the last directory in the cache path is named after the
134+
# cache path (more precisely the package name) so that package:// URIs
135+
# work in frameworks that resolve them via directories
136+
cache_path = f"{cache_path}-{commit}/{cache_path}"
134137
target_dir = os.path.join(cache_dir, cache_path)
135138
clone = clone_to_directory(
136139
repository.url,
137140
target_dir,
138141
commit=repository.commit if commit is None else commit,
139142
)
140143
return str(clone.working_dir)
144+
145+
146+
def clear_cache() -> None:
147+
"""Clears the local cache where robot descriptions are stored."""
148+
cache_dir = os.path.expanduser(
149+
os.environ.get(
150+
"ROBOT_DESCRIPTIONS_CACHE",
151+
"~/.cache/robot_descriptions",
152+
)
153+
)
154+
shutil.rmtree(cache_dir, ignore_errors=True)

‎robot_descriptions/_descriptions.py

+11-1
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@@ -50,8 +50,11 @@ def has_urdf(self) -> bool:
5050
DESCRIPTIONS: Dict[str, Description] = {
5151
"a1_description": Description(Format.URDF),
5252
"a1_mj_description": Description(Format.MJCF),
53-
"aliengo_description": Description(Format.MJCF),
53+
"aliengo_description": Description(Format.URDF),
54+
"aliengo_mj_description": Description(Format.MJCF),
55+
"aloha_mj_description": Description(Format.MJCF),
5456
"allegro_hand_description": Description(Format.URDF),
57+
"allegro_hand_mj_description": Description(Format.MJCF),
5558
"anymal_b_description": Description(Format.URDF),
5659
"anymal_b_mj_description": Description(Format.MJCF),
5760
"anymal_c_description": Description(Format.URDF),
@@ -65,6 +68,7 @@ def has_urdf(self) -> bool:
6568
"cassie_description": Description(Format.URDF),
6669
"cassie_mj_description": Description(Format.MJCF),
6770
"cf2_description": Description(Format.URDF),
71+
"cf2_mj_description": Description(Format.MJCF),
6872
"double_pendulum_description": Description(Format.URDF),
6973
"draco3_description": Description(Format.URDF),
7074
"edo_description": Description(Format.URDF),
@@ -84,13 +88,15 @@ def has_urdf(self) -> bool:
8488
"hyq_description": Description(Format.URDF),
8589
"icub_description": Description(Format.URDF),
8690
"iiwa_description": Description(Format.URDF),
91+
"iiwa_mj_description": Description(Format.MJCF),
8792
"jaxon_description": Description(Format.URDF),
8893
"jvrc_description": Description(Format.URDF),
8994
"jvrc_mj_description": Description(Format.MJCF),
9095
"laikago_description": Description(Format.URDF),
9196
"mini_cheetah_description": Description(Format.URDF),
9297
"minitaur_description": Description(Format.URDF),
9398
"nextage_description": Description(Format.URDF),
99+
"op3_mj_description": Description(Format.MJCF),
94100
"panda_description": Description(Format.URDF),
95101
"panda_mj_description": Description(Format.MJCF),
96102
"pepper_description": Description(Format.URDF),
@@ -103,13 +109,15 @@ def has_urdf(self) -> bool:
103109
"robotiq_2f85_description": Description(Format.URDF),
104110
"robotiq_2f85_mj_description": Description(Format.MJCF),
105111
"romeo_description": Description(Format.URDF),
112+
"sawyer_mj_description": Description(Format.MJCF),
106113
"shadow_hand_mj_description": Description(Format.MJCF),
107114
"simple_humanoid_description": Description(Format.URDF),
108115
"skydio_x2_description": Description(Format.URDF),
109116
"skydio_x2_mj_description": Description(Format.MJCF),
110117
"solo_description": Description(Format.URDF),
111118
"spryped_description": Description(Format.URDF),
112119
"stretch_description": Description(Format.URDF),
120+
"stretch_mj_description": Description(Format.MJCF),
113121
"talos_description": Description(Format.URDF),
114122
"tiago_description": Description(Format.URDF),
115123
"trifinger_edu_description": Description(Format.URDF),
@@ -120,6 +128,8 @@ def has_urdf(self) -> bool:
120128
"ur5_description": Description(Format.URDF),
121129
"ur5e_mj_description": Description(Format.MJCF),
122130
"valkyrie_description": Description(Format.URDF),
131+
"viper_mj_description": Description(Format.MJCF),
132+
"xarm7_mj_description": Description(Format.MJCF),
123133
"yumi_description": Description(Format.URDF),
124134
"z1_description": Description(Format.URDF),
125135
"z1_mj_description": Description(Format.MJCF),

‎robot_descriptions/_repositories.py

+3-3
Original file line numberDiff line numberDiff line change
@@ -123,8 +123,8 @@ class Repository:
123123
cache_path="jaxon_description",
124124
),
125125
"jvrc_description": Repository(
126-
url="https://github.com/robot-descriptions/jvrc_description.git",
127-
commit="b788e1a7c874b3447fc027e175f216c6192e9e96",
126+
url="https://github.com/jrl-umi3218/jvrc_description.git",
127+
commit="9ff8efbc7043459a8f0892662bd030d8020fb682",
128128
cache_path="jvrc_description",
129129
),
130130
"jvrc_mj_description": Repository(
@@ -144,7 +144,7 @@ class Repository:
144144
),
145145
"mujoco_menagerie": Repository(
146146
url="https://github.com/deepmind/mujoco_menagerie.git",
147-
commit="a099b54b539416bff0db4d35fc2271c35c10f37a",
147+
commit="915d92c60858c3649e04af2ae93ac2c51fe18c24",
148148
cache_path="mujoco_menagerie",
149149
),
150150
"nao_robot": Repository(

‎robot_descriptions/aliengo_description.py

+4-4
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1212
from ._cache import clone_to_cache as _clone_to_cache
1313

1414
REPOSITORY_PATH: str = _clone_to_cache(
15-
"unitree_mujoco",
15+
"unitree_ros",
1616
commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
1717
)
1818

19-
PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
20-
21-
MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")
19+
PACKAGE_PATH: str = _path.join(
20+
REPOSITORY_PATH, "robots", "aliengo_description"
21+
)
2222

2323
URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "aliengo.urdf")

‎robot_descriptions/aliengo_mj_description.py

+21
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
1+
#!/usr/bin/env python3
2+
# -*- coding: utf-8 -*-
3+
#
4+
# SPDX-License-Identifier: Apache-2.0
5+
# Copyright 2022 Stéphane Caron
6+
7+
"""Aliengo description."""
8+
9+
from os import getenv as _getenv
10+
from os import path as _path
11+
12+
from ._cache import clone_to_cache as _clone_to_cache
13+
14+
REPOSITORY_PATH: str = _clone_to_cache(
15+
"unitree_mujoco",
16+
commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
17+
)
18+
19+
PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
20+
21+
MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")

‎robot_descriptions/allegro_hand_mj_description.py

+24
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@@ -0,0 +1,24 @@
1+
#!/usr/bin/env python3
2+
# -*- coding: utf-8 -*-
3+
#
4+
# SPDX-License-Identifier: Apache-2.0
5+
6+
"""Allegro Hand V3 MJCF description."""
7+
8+
from os import getenv as _getenv
9+
from os import path as _path
10+
11+
from ._cache import clone_to_cache as _clone_to_cache
12+
13+
REPOSITORY_PATH: str = _clone_to_cache(
14+
"mujoco_menagerie",
15+
commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
16+
)
17+
18+
PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "wonik_allegro")
19+
20+
MJCF_PATH: str = _path.join(PACKAGE_PATH, "right_hand.xml")
21+
22+
MJCF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "left_hand.xml")
23+
24+
MJCF_PATH_RIGHT = MJCF_PATH

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