Add xarm7 MJCF.

Author: kevinzakka

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: UFACTORY xArm7 (MJCF) (thanks to @kevinzakka)
+
 ## [1.9.0] - 2024-03-27
 
 ### Added

README.md

@@ -148,6 +148,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |
 | `viper_mj_description`        | Viper                 | Trossen Robotics         | 7   | MJCF       |
+| `xarm7_mj_description`        | xArm7                 | UFACTORY                 | 7   | MJCF       |
 | `z1_description`              | Z1                    | UNITREE Robotics         | 6   | URDF       |
 
 ### Bipeds

robot_descriptions/_descriptions.py

@@ -128,6 +128,7 @@ def has_urdf(self) -> bool:
     "ur5e_mj_description": Description(Format.MJCF),
     "valkyrie_description": Description(Format.URDF),
     "viper_mj_description": Description(Format.MJCF),
+    "xarm7_mj_description": Description(Format.MJCF),
     "yumi_description": Description(Format.URDF),
     "z1_description": Description(Format.URDF),
     "z1_mj_description": Description(Format.MJCF),

robot_descriptions/xarm7_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""UFACTORY xArm7 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, "ufactory_xarm7")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xarm7.xml")