Add BamBot URDF description

CHANGELOG.md

@@ -6,8 +6,15 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Description: SO ARM 101 (URDF/MJCF) (thanks to @haixuantao)
-- Add `pull` in the CLI to pull `robot_description` and cache it. (thanks to @haixuantao)
+- CLI: Add `pull` command to `robot_description` and cache it (thanks to @haixuantao)
+- Description: BamBot (URDF)
+- Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
+- Description: SO ARM 101 (URDF) (thanks to @haixuantao)
+
+### Changed
+
+- Rename `leap_hand_v1` to `leap_hand_v1_description`
+- Rename `so_arm100` to `so_arm100_description`
 
 ## [1.18.0] - 2025-06-19
 

README.md

@@ -149,7 +149,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `piper_mj_description`        | PiPER                 | AgileX                   | MJCF       | MIT          |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | URDF       | GPL-3.0      |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | MJCF       | Apache-2.0   |
-| `so_arm100`                   | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
+| `so_arm100_description`       | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
 | `so_arm100_mj_description`    | SO-ARM100             | The Robot Studio         | MJCF       | Apache-2.0   |
 | `so_arm101_description`       | SO-ARM101             | The Robot Studio         | URDF       | Apache-2.0   |
 | `so_arm101_mj_description`    | SO-ARM101             | The Robot Studio         | MJCF       | Apache-2.0   |
@@ -214,7 +214,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `allegro_hand_description`       | Allegro Hand          | Wonik Robotics             | URDF       | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT)     |
 | `allegro_hand_mj_description`    | Allegro Hand          | Wonik Robotics             | MJCF       | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
 | `barrett_hand_description`       | BarrettHand           | Barrett Technology         | URDF       | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |
-| `leap_hand_v1`                   | LEAP Hand v1          | Carnegie Mellon University | URDF       | MIT |
+| `leap_hand_v1_description`       | LEAP Hand v1          | Carnegie Mellon University | URDF       | MIT |
 | `leap_hand_mj_description`       | LEAP Hand             | Carnegie Mellon University | MJCF       | MIT |
 | `robotiq_2f85_description`       | Robotiq 2F-85         | Robotiq                    | URDF       | BSD-2-Clause |
 | `robotiq_2f85_mj_description`    | Robotiq 2F-85         | Robotiq                    | MJCF       | BSD-2-Clause |
@@ -255,18 +255,19 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 ### Mobile manipulators
 
-| Name                          | Robot                 | Maker                    | DOF | Format     |
-|-------------------------------|-----------------------|--------------------------|-----|------------|
-| `eve_r3_description`          | Eve R3                | Halodi                   | 23  | URDF       |
-| `fetch_description`           | Fetch                 | Fetch Robotics           | 14  | URDF       |
-| `ginger_description`          | Ginger                | Paaila Technology        | 49  | URDF       |
-| `pepper_description`          | Pepper                | SoftBank Robotics        | 17  | URDF       |
-| `pr2_description`             | PR2                   | Willow Garage            | 32  | URDF       |
-| `reachy_description`          | Reachy                | Pollen Robotics          | 21  | URDF       |
-| `stretch_description`         | Stretch RE1           | Hello Robot              | 14  | URDF       |
-| `sretch_mj_description`       | Stretch 2             | Hello Robot              | 14  | MJCF       |
-| `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | 14  | MJCF       |
-| `tiago_description`           | TIAGo                 | PAL Robotics             | 48  | URDF       |
+| Name                          | Robot                 | Maker                    | Format     | License |
+|-------------------------------|-----------------------|--------------------------|------------|---------|
+| `bambot_description`          | BamBot                | Tim Qian                 | URDF       | [Apache-2.0](https://github.com/timqian/bambot/blob/04d902653794f9f72eeabb09ec90a9af8e397c5b/LICENSE) |
+| `eve_r3_description`          | Eve R3                | Halodi                   | URDF       | Apache-2.0 |
+| `fetch_description`           | Fetch                 | Fetch Robotics           | URDF       | MIT |
+| `ginger_description`          | Ginger                | Paaila Technology        | URDF       | BSD |
+| `pepper_description`          | Pepper                | SoftBank Robotics        | URDF       | BSD-2-Clause |
+| `pr2_description`             | PR2                   | Willow Garage            | URDF       | BSD |
+| `reachy_description`          | Reachy                | Pollen Robotics          | URDF       | Apache-2.0 |
+| `stretch_description`         | Stretch RE1           | Hello Robot              | URDF       | CC-BY-SA-4.0 ✖️  |
+| `sretch_mj_description`       | Stretch 2             | Hello Robot              | MJCF       | Clear BSD |
+| `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | MJCF       | Apache-2.0 |
+| `tiago_description`           | TIAGo                 | PAL Robotics             | URDF       | Apache-2.0 |
 
 ### Quadrupeds
 

robot_descriptions/_descriptions.py

@@ -80,6 +80,9 @@ def has_urdf(self) -> bool:
     "atlas_v4_description": Description(Format.URDF, tags={"humanoid"}),
     "b1_description": Description(Format.URDF, tags={"quadruped"}),
     "b2_description": Description(Format.URDF, tags={"quadruped"}),
+    "bambot_description": Description(
+        Format.URDF, tags={"mobile_manipulator"}
+    ),
     "barrett_hand_description": Description(
         Format.URDF, tags={"end_effector"}
     ),
@@ -134,7 +137,9 @@ def has_urdf(self) -> bool:
     "jvrc_description": Description(Format.URDF, tags={"humanoid"}),
     "jvrc_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "laikago_description": Description(Format.URDF, tags={"quadruped"}),
-    "leap_hand_v1": Description(Format.URDF, tags={"end_effector"}),
+    "leap_hand_v1_description": Description(
+        Format.URDF, tags={"end_effector"}
+    ),
     "leap_hand_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
@@ -189,8 +194,10 @@ def has_urdf(self) -> bool:
     ),
     "skydio_x2_description": Description(Format.URDF, tags={"drone"}),
     "skydio_x2_mj_description": Description(Format.MJCF, tags={"drone"}),
-    "so_arm100": Description(Format.URDF, tags={"arm"}),
+    "so_arm100_description": Description(Format.URDF, tags={"arm"}),
     "so_arm100_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "so_arm101_description": Description(Format.URDF, tags={"arm"}),
+    "so_arm101_mj_description": Description(Format.MJCF, tags={"arm"}),
     "solo_description": Description(Format.URDF, tags={"quadruped"}),
     "spot_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "spryped_description": Description(Format.URDF, tags={"biped"}),

robot_descriptions/_repositories.py

@@ -46,6 +46,11 @@ class Repository:
         commit="6adc14720aab583613975e5a9d6d4fa3cfcdd081",
         cache_path="anymal_d_simple_description",
     ),
+    "bambot": Repository(
+        url="https://github.com/timqian/bambot.git",
+        commit="04d902653794f9f72eeabb09ec90a9af8e397c5b",
+        cache_path="bambot",
+    ),
     "baxter_common": Repository(
         url="https://github.com/RethinkRobotics/baxter_common.git",
         commit="6c4b0f375fe4e356a3b12df26ef7c0d5e58df86e",  # v1.2.0

robot_descriptions/bambot_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""BamBot 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(
+    "bambot",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "website", "public", "URDF")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "bambot_v0.urdf")