Add unitree g1.

Author: kevinzakka

CHANGELOG.md

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

README.md

@@ -115,15 +115,27 @@ robot_descriptions show solo_description
 
 Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
 
-- [Arms](#arms)
-- [Bipeds](#bipeds)
-- [Dual arms](#dual-arms)
-- [Drones](#drones)
-- [Educational](#educational)
-- [End effectors](#end-effectors)
-- [Humanoids](#humanoids)
-- [Mobile manipulators](#mobile-manipulators)
-- [Quadrupeds](#quadrupeds)
+- [Installation](#installation)
+  - [PyPI](#pypi)
+  - [Conda](#conda)
+- [Usage](#usage)
+  - [Import as submodule](#import-as-submodule)
+- [Examples](#examples)
+- [Command line tool](#command-line-tool)
+- [Descriptions](#descriptions)
+  - [Arms](#arms)
+  - [Bipeds](#bipeds)
+  - [Dual arms](#dual-arms)
+  - [Drones](#drones)
+  - [Educational](#educational)
+  - [End effectors](#end-effectors)
+  - [Humanoids](#humanoids)
+  - [Mobile manipulators](#mobile-manipulators)
+  - [Quadrupeds](#quadrupeds)
+- [Contributing](#contributing)
+- [Thanks](#thanks)
+- [Citation](#citation)
+- [See also](#see-also)
 
 The DOF column denotes the number of actuated degrees of freedom.
 
@@ -210,6 +222,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `atlas_v4_description`        | Atlas v4              | Boston Dynamics          | 30  | URDF       |
 | `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
 | `ergocub_description`         | ergoCub               | IIT                      | 57  | URDF       |
+| `g1_mj_description`           | G1                    | UNITREE Robotics         | 37  | MJCF       |
 | `h1_description`              | H1                    | UNITREE Robotics         | 25  | URDF       |
 | `h1_mj_description`           | H1                    | UNITREE Robotics         | 25  | MJCF       |
 | `icub_description`            | iCub                  | IIT                      | 32  | URDF       |

robot_descriptions/_descriptions.py

@@ -77,6 +77,7 @@ def has_urdf(self) -> bool:
     "fanuc_m710ic_description": Description(Format.URDF),
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),
+    "g1_mj_description": Description(Format.MJCF),
     "gen2_description": Description(Format.URDF),
     "gen3_description": Description(Format.URDF),
     "gen3_mj_description": Description(Format.MJCF),

robot_descriptions/_repositories.py

@@ -152,7 +152,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="915d92c60858c3649e04af2ae93ac2c51fe18c24",
+        commit="0a809cfd52f615ea4bb82ccf858787768f08699a",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/g1_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""G1 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, "unitree_g1")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1.xml")