Merge pull request #84 from kevinzakka/update-models

Add BD Spot quadruped and Franka FR3.

Author: stephane-caron

CHANGELOG.md

@@ -9,6 +9,8 @@ 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)
+- Description: Boston Dynamics Spot (MJCF) (thanks to @kevinzakka)
+- Description: Franka Robotics FR3 (MJCF) (thanks to @kevinzakka)
 
 ### Changed
 

README.md

@@ -133,14 +133,15 @@ The DOF column denotes the number of actuated degrees of freedom.
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `edo_description`             | e.DO                  | Comau                    | 6   | URDF       |
 | `fanuc_m710ic_description`    | M-710iC               | Fanuc                    | 6   | URDF       |
+| `fr3_mj_description`          | FR3                   | Franka Robotics          | 7   | MJCF       |
 | `gen2_description`            | Gen2 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
 | `iiwa14_description`          | iiwa 14               | KUKA                     | 7   | URDF       |
 | `iiwa14_mj_description`       | iiwa 14               | KUKA                     | 7   | MJCF       |
 | `iiwa7_description`           | iiwa 7                | KUKA                     | 7   | URDF       |
-| `panda_description`           | Panda                 | Franka Emika             | 8   | URDF       |
-| `panda_mj_description`        | Panda                 | Franka Emika             | 8   | MJCF       |
+| `panda_description`           | Panda                 | Franka Robotics          | 8   | URDF       |
+| `panda_mj_description`        | Panda                 | Franka Robotics          | 8   | MJCF       |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | 6   | URDF       |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | 7   | MJCF       |
 | `ur10_description`            | UR10                  | Universal Robots         | 6   | URDF       |
@@ -252,6 +253,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `anymal_c_description`        | ANYmal C              | ANYbotics                | 12  | URDF       |
 | `anymal_c_mj_description`     | ANYmal C              | ANYbotics                | 12  | MJCF       |
 | `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
+| `spot_mj_description`         | Spot                  | Boston Dynamics          | 12  | MJCF       |
 | `go1_description`             | Go1                   | UNITREE Robotics         | 12  | URDF       |
 | `go1_mj_description`          | Go1                   | UNITREE Robotics         | 12  | MJCF       |
 | `go2_description`             | Go2                   | UNITREE Robotics         | 12  | URDF       |

robot_descriptions/_repositories.py

@@ -152,7 +152,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="95659f93be58e9e5600bcd1bc9c2379b4aa07fc6",
+        commit="d82891f8b6c576f9f6a9df308f3a1155ebedbc40",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/fr3_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Franka FR3 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, "franka_fr3")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "fr3.xml")

robot_descriptions/spot_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Boston Dynamics Spot 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, "boston_dynamics_spot")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "spot.xml")