Add Kinova Gen3 MJCF description.

Author: kevinzakka

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: Kinova Gen3 (MJCF) (thanks to @kevinzakka)
+
 ## [1.11.0] - 2024-06-27
 
 ### Added

README.md

@@ -140,6 +140,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `iiwa14_description`          | iiwa 14               | KUKA                     | 7   | URDF       |
 | `iiwa14_mj_description`       | iiwa 14               | KUKA                     | 7   | MJCF       |
 | `iiwa7_description`           | iiwa 7                | KUKA                     | 7   | URDF       |
+| `kinova_gen3_mj_description`  | Kinova Gen3           | Kinova Robotics          | 7   | 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       |

robot_descriptions/_descriptions.py

@@ -95,6 +95,7 @@ def has_urdf(self) -> bool:
     "jaxon_description": Description(Format.URDF),
     "jvrc_description": Description(Format.URDF),
     "jvrc_mj_description": Description(Format.MJCF),
+    "kinova_gen3_mj_description": Description(Format.MJCF),
     "laikago_description": Description(Format.URDF),
     "mini_cheetah_description": Description(Format.URDF),
     "minitaur_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -152,7 +152,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="3ff28577c3d5e9c63b2bf84489c45b851745b8d0",
+        commit="af493511dbdfce2e046858a4d2f2955e063e17fd",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/kinova_gen3_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Kinova Gen3 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, "kinova_gen3")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "gen3.xml")