Merge pull request #142 from jonzamora/main

Add ARX L5 MJCF description 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: Kinova Gen3 Lite (URDF)
+- Description: ARX L5 (MJCF) (thanks to @jonzamora)
 
 ### Changed
 

README.md

@@ -135,6 +135,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 | Name                          | Robot                 | Maker                    | Format     | License      |
 |-------------------------------|-----------------------|--------------------------|------------|--------------|
+| `arx_l5_mj_description`       | L5                    | ARX                      | MJCF       | BSD-3-Clause |
 | `edo_description`             | e.DO                  | Comau                    | URDF       | [BSD-3-Clause](https://github.com/ianathompson/eDO_description/blob/17b3f92f834746106d6a4befaab8eeab3ac248e6/LICENSE) |
 | `fanuc_m710ic_description`    | M-710iC               | Fanuc                    | URDF       | BSD-3-Clause |
 | `fr3_mj_description`          | FR3                   | Franka Robotics          | MJCF       | Apache-2.0   |

robot_descriptions/_descriptions.py

@@ -74,6 +74,7 @@ def has_urdf(self) -> bool:
     "anymal_c_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "anymal_d_description": Description(Format.URDF, tags={"quadruped"}),
     "apollo_mj_description": Description(Format.MJCF, tags={"humanoid"}),
+    "arx_l5_mj_description": Description(Format.MJCF, tags={"arm"}),
     "atlas_drc_description": Description(Format.URDF, tags={"humanoid"}),
     "atlas_v4_description": Description(Format.URDF, tags={"humanoid"}),
     "b1_description": Description(Format.URDF, tags={"quadruped"}),

robot_descriptions/_repositories.py

@@ -177,7 +177,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="bf04290ac7911fa7a39339c7e507792fd464c438",
+        commit="e44555e5a6478f5119dfd5ca9c4a8270ae1b9933",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/arx_l5_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""ARX L5 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, "arx_l5")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "arx_l5.xml")