Merge pull request #150 from kevinzakka/menagerie-yam

Add YAM arm from Menagerie.

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Dynamixel 2R (MJCF)
+- Description: YAM (MJCF) (thanks to @kevinzakka)
 
 ## [1.17.0] - 2025-05-08
 

README.md

@@ -163,6 +163,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `viper_mj_description`        | ViperX                | Trossen Robotics         | MJCF       | BSD-3-Clause |
 | `widow_mj_description`        | WidowX                | Trossen Robotics         | MJCF       | BSD-3-Clause |
 | `xarm7_mj_description`        | xArm7                 | UFACTORY                 | MJCF       | BSD-3-Clause |
+| `yam_mj_description`          | YAM                   | I2RT Robotics            | MJCF       | MIT          |
 | `z1_description`              | Z1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `z1_mj_description`           | Z1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 

robot_descriptions/_descriptions.py

@@ -216,6 +216,7 @@ def has_urdf(self) -> bool:
     "viper_mj_description": Description(Format.MJCF, tags={"arm"}),
     "widow_mj_description": Description(Format.MJCF, tags={"arm"}),
     "xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "yam_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),
     "z1_description": Description(Format.URDF, tags={"arm"}),
     "z1_mj_description": Description(Format.MJCF, tags={"arm"}),

robot_descriptions/_repositories.py

@@ -177,7 +177,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="ef4d04fbb7451d30b39c2aff7e49df737bb46815",
+        commit="4a7015530bd7a4161103ae8f0905a96481e4cc1a",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/yam_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""YAM 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, "i2rt_yam")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "yam.xml")