Merge pull request #87 from kevinzakka/widow

Add WidowX 250 6-DOF MJCF from Menagerie.

Author: stephane-caron

CHANGELOG.md

@@ -11,6 +11,7 @@ All notable changes to this project will be documented in this file.
 - Description: Unitree G1 (URDF) (thanks to @lvjonok)
 - Description: Boston Dynamics Spot (MJCF) (thanks to @kevinzakka)
 - Description: Franka Robotics FR3 (MJCF) (thanks to @kevinzakka)
+- Description: WidowX 250 6-DOF (MJCF) (thanks to @kevinzakka)
 
 ### Changed
 

README.md

@@ -149,7 +149,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |
-| `viper_mj_description`        | Viper                 | Trossen Robotics         | 7   | MJCF       |
+| `viper_mj_description`        | ViperX                | Trossen Robotics         | 8   | MJCF       |
+| `widow_mj_description`        | WidowX                | Trossen Robotics         | 8   | MJCF       |
 | `xarm7_mj_description`        | xArm7                 | UFACTORY                 | 7   | MJCF       |
 | `z1_description`              | Z1                    | UNITREE Robotics         | 6   | URDF       |
 

robot_descriptions/_descriptions.py

@@ -132,6 +132,7 @@ def has_urdf(self) -> bool:
     "ur5e_mj_description": Description(Format.MJCF),
     "valkyrie_description": Description(Format.URDF),
     "viper_mj_description": Description(Format.MJCF),
+    "widow_mj_description": Description(Format.MJCF),
     "xarm7_mj_description": Description(Format.MJCF),
     "yumi_description": Description(Format.URDF),
     "z1_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="d82891f8b6c576f9f6a9df308f3a1155ebedbc40",
+        commit="3ff28577c3d5e9c63b2bf84489c45b851745b8d0",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/widow_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""WidowX 250 6DOF 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, "trossen_wx250s")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "wx250s.xml")