Merge branch 'main' into unitree-g1

Author: stephane-caron

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 - Description: KUKA iiwa 7 (URDF)
 - Description: Unitree G1 (MJCF) (thanks to @kevinzakka)
+- Description: Unitree G1 (URDF) (thanks to @lvjonok)
 
 ### Changed
 

README.md

@@ -223,6 +223,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `sigmaban_description`        | SigmaBan              | Rhoban                   | 20  | URDF       |
 | `talos_description`           | TALOS                 | PAL Robotics             | 32  | URDF       |
 | `valkyrie_description`        | Valkyrie              | NASA JSC Robotics        | 59  | URDF       |
+| `g1_description`              | G1                    | UNITREE Robotics         | 37  | URDF       |
 
 ### Mobile manipulators
 

robot_descriptions/_descriptions.py

@@ -84,6 +84,7 @@ def has_urdf(self) -> bool:
     "ginger_description": Description(Format.URDF),
     "go1_description": Description(Format.URDF),
     "go1_mj_description": Description(Format.MJCF),
+    "g1_description": Description(Format.URDF),
     "h1_description": Description(Format.URDF),
     "h1_mj_description": Description(Format.MJCF),
     "hyq_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -247,7 +247,7 @@ class Repository:
     ),
     "unitree_ros": Repository(
         url="https://github.com/unitreerobotics/unitree_ros.git",
-        commit="e197ae10d301c41f17f61fe3a741925a033db1e8",
+        commit="6a7a9609cebd853062f2182f97dcfbdb711cd61a",
         cache_path="unitree_ros",
     ),
     "upkie_description": Repository(

robot_descriptions/g1_description.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""G1 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(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "g1_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "g1.urdf")