From b7b62d912f1ca4e80eefe2134d5be9f365c231ce Mon Sep 17 00:00:00 2001 From: peterdavidfagan Date: Wed, 5 Feb 2025 12:41:26 +0000 Subject: [PATCH] update menagerie --- CHANGELOG.md | 4 ++++ README.md | 23 ++++++++++--------- robot_descriptions/_descriptions.py | 1 + robot_descriptions/_repositories.py | 2 +- .../robotiq_2f85_v4_mj_description.py | 21 +++++++++++++++++ 5 files changed, 39 insertions(+), 12 deletions(-) create mode 100644 robot_descriptions/robotiq_2f85_v4_mj_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 8601216..68d4be4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file. ## [Unreleased] +### Added + +- Description: Robotiq 2F-85 (MJCF V4) + ## [1.14.0] - 2025-01-07 ### Added diff --git a/README.md b/README.md index a144608..2290ac3 100644 --- a/README.md +++ b/README.md @@ -198,17 +198,18 @@ The DOF column denotes the number of actuated degrees of freedom. ### End effectors -| Name | Robot | Maker | DOF | Format | -|-------------------------------|-----------------------|----------------------------|-----|------------| -| `allegro_hand_description` | Allegro Hand | Wonik Robotics | 16 | URDF | -| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | 16 | MJCF | -| `barrett_hand_description` | BarrettHand | Barrett Technology | 8 | URDF | -| `leap_hand_v1` | LEAP Hand v1 | Carnegie Mellon University | 16 | URDF | -| `leap_hand_mj_description` | LEAP Hand | Carnegie Mellon University | 16 | MJCF | -| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | 1 | URDF | -| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF | -| `shadow_dexee_mj_description` | Shadow DEX-EE | The Shadow Robot Company | 12 | MJCF | -| `shadow_hand_mj_description` | Shadow Hand | The Shadow Robot Company | 24 | MJCF | +| Name | Robot | Maker | DOF | Format | +|----------------------------------|-----------------------|----------------------------|-----|------------| +| `allegro_hand_description` | Allegro Hand | Wonik Robotics | 16 | URDF | +| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | 16 | MJCF | +| `barrett_hand_description` | BarrettHand | Barrett Technology | 8 | URDF | +| `leap_hand_v1` | LEAP Hand v1 | Carnegie Mellon University | 16 | URDF | +| `leap_hand_mj_description` | LEAP Hand | Carnegie Mellon University | 16 | MJCF | +| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | 1 | URDF | +| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF | +| `robotiq_2f85_v4_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF | +| `shadow_dexee_mj_description` | Shadow DEX-EE | The Shadow Robot Company | 12 | MJCF | +| `shadow_hand_mj_description` | Shadow Hand | The Shadow Robot Company | 24 | MJCF | ### Humanoids diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py index 81d0d0b..0d8cefc 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -115,6 +115,7 @@ def has_urdf(self) -> bool: "rhea_description": Description(Format.URDF), "robotiq_2f85_description": Description(Format.URDF), "robotiq_2f85_mj_description": Description(Format.MJCF), + "robotiq_2f85_v4_mj_description": Description(Format.MJCF), "romeo_description": Description(Format.URDF), "sawyer_mj_description": Description(Format.MJCF), "shadow_hand_mj_description": Description(Format.MJCF), diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index ba1804e..6524bc5 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -162,7 +162,7 @@ class Repository: ), "mujoco_menagerie": Repository( url="https://github.com/deepmind/mujoco_menagerie.git", - commit="a88bc450470d97ebc1f282e5969675fb4d1f0ed7", + commit="dec370da8895f4a04c20bae57a52f3bd16148ee6", cache_path="mujoco_menagerie", ), "nao_robot": Repository( diff --git a/robot_descriptions/robotiq_2f85_v4_mj_description.py b/robot_descriptions/robotiq_2f85_v4_mj_description.py new file mode 100644 index 0000000..4027c1e --- /dev/null +++ b/robot_descriptions/robotiq_2f85_v4_mj_description.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2022 Stéphane Caron + +"""Robotiq 2F-85 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, "robotiq_2f85_v4") + +MJCF_PATH: str = _path.join(PACKAGE_PATH, "2f85.xml")