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stephane-caronstephane-caron
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Merge pull request #61 from kevinzakka/more-mujoco-models
Add more Menagerie models.
2 parents 1ecaeee + 6642354 commit 60e17bc

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‎CHANGELOG.md‎

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@@ -6,6 +6,14 @@ All notable changes to this project will be documented in this file.
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### Added
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- Description: Allegro Hand V3 (MJCF)
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- Description: ALOHA 2 (MJCF)
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- Description: Bitcraze Crazyflie 2.0 (MJCF)
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- Description: KUKA iiwa 14 (MJCF)
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- Description: Robotics OP3 (MJCF)
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- Description: Saywer (MJCF)
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- Description: Stretch 2 (MJCF)
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- Description: ViperX 300 6DOF (MJCF)
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- Citation file and BibTeX section in the readme
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### Changed

‎README.md‎

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Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
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* [Arms](#arms)
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* [Bipeds](#bipeds)
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* [Dual arms](#dual-arms)
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* [Drones](#drones)
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* [Educational](#educational)
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* [End effectors](#end-effectors)
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* [Mobile manipulators](#mobile-manipulators)
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* [Humanoids](#humanoids)
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* [Quadrupeds](#quadrupeds)
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- [Arms](#arms)
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- [Bipeds](#bipeds)
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- [Dual arms](#dual-arms)
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- [Drones](#drones)
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- [Educational](#educational)
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- [End effectors](#end-effectors)
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- [Humanoids](#humanoids)
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- [Mobile manipulators](#mobile-manipulators)
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- [Quadrupeds](#quadrupeds)
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The DOF column denotes the number of actuated degrees of freedom.
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@@ -133,14 +133,17 @@ The DOF column denotes the number of actuated degrees of freedom.
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| `gen3_description` | Gen3 (Jaco) | Kinova | 6 | URDF |
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| `gen3_mj_description` | Gen3 (Jaco) | Kinova | 7 | MJCF |
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| `iiwa_description` | iiwa | KUKA | 7 | URDF |
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| `iiwa_mj_description` | iiwa14 | KUKA | 7 | MJCF |
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| `panda_description` | Panda | Franka Emika | 8 | URDF |
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| `panda_mj_description` | Panda | Franka Emika | 8 | MJCF |
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| `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | 6 | URDF |
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| `sawyer_mj_description` | Sawyer | Rethink Robotics | 7 | MJCF |
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| `ur10_description` | UR10 | Universal Robots | 6 | URDF |
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| `ur10e_mj_description` | UR10e | Universal Robots | 6 | MJCF |
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| `ur3_description` | UR3 | Universal Robots | 6 | URDF |
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| `ur5_description` | UR5 | Universal Robots | 6 | URDF |
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| `ur5e_mj_description` | UR5e | Universal Robots | 6 | MJCF |
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| `viper_mj_description` | Viper | Trossen Robotics | 7 | MJCF |
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| `z1_description` | Z1 | UNITREE Robotics | 6 | URDF |
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### Bipeds
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| Name | Robot | Maker | DOF | Format |
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|-------------------------------|-----------------------|--------------------------|-----|------------|
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| `aloha_mj_description` | Aloha 2 | Trossen Robotics | 14 | MJCF |
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| `baxter_description` | Baxter | Rethink Robotics | 15 | URDF |
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| `nextage_description` | NEXTAGE | Kawada Robotics | 15 | URDF |
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| `poppy_torso_description` | Poppy Torso | Poppy Project | 13 | URDF |
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| Name | Robot | Maker | DOF | Format |
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|-------------------------------|-----------------------|--------------------------|-----|------------|
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| `cf2_description` | Crazyflie 2.0 | Bitcraze | 0 | URDF |
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| `cf2_mj_description` | Crazyflie 2.0 | Bitcraze | 6 | MJCF |
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| `skydio_x2_description` | Skydio X2 | Skydio | 6 | URDF |
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| `skydio_x2_mj_description` | Skydio X2 | Skydio | 6 | MJCF |
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| Name | Robot | Maker | DOF | Format |
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|-------------------------------|-----------------------|--------------------------|-----|------------|
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| `allegro_hand_description` | Allegro Hand | Wonik Robotics | 16 | URDF |
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| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | 16 | MJCF |
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| `barrett_hand_description` | BarrettHand | Barrett Technology | 8 | URDF |
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| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | 1 | URDF |
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| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | 1 | MJCF |
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| `jaxon_description` | JAXON | JSK | 38 | URDF |
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| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
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| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
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| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
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| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
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| `romeo_description` | Romeo | Aldebaran Robotics | 37 | URDF |
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| `sigmaban_description` | SigmaBan | Rhoban | 20 | URDF |
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| `pr2_description` | PR2 | Willow Garage | 32 | URDF |
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| `reachy_description` | Reachy | Pollen Robotics | 21 | URDF |
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| `stretch_description` | Stretch RE1 | Hello Robot | 14 | URDF |
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| `sretch_mj_description` | Stretch 2 | Hello Robot | 14 | MJCF |
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| `tiago_description` | TIAGo | PAL Robotics | 48 | URDF |
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### Quadrupeds

‎robot_descriptions/_descriptions.py‎

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"a1_description": Description(Format.URDF),
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"a1_mj_description": Description(Format.MJCF),
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"aliengo_description": Description(Format.MJCF),
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"aloha_mj_description": Description(Format.MJCF),
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"allegro_hand_description": Description(Format.URDF),
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"allegro_hand_mj_description": Description(Format.MJCF),
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"anymal_b_description": Description(Format.URDF),
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"anymal_b_mj_description": Description(Format.MJCF),
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"anymal_c_description": Description(Format.URDF),
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"cassie_description": Description(Format.URDF),
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"cassie_mj_description": Description(Format.MJCF),
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"cf2_description": Description(Format.URDF),
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"cf2_mj_description": Description(Format.MJCF),
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"double_pendulum_description": Description(Format.URDF),
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"draco3_description": Description(Format.URDF),
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"edo_description": Description(Format.URDF),
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"hyq_description": Description(Format.URDF),
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"icub_description": Description(Format.URDF),
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"iiwa_description": Description(Format.URDF),
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"iiwa_mj_description": Description(Format.MJCF),
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"jaxon_description": Description(Format.URDF),
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"jvrc_description": Description(Format.URDF),
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"jvrc_mj_description": Description(Format.MJCF),
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"laikago_description": Description(Format.URDF),
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"mini_cheetah_description": Description(Format.URDF),
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"minitaur_description": Description(Format.URDF),
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"nextage_description": Description(Format.URDF),
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"op3_mj_description": Description(Format.MJCF),
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"panda_description": Description(Format.URDF),
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"panda_mj_description": Description(Format.MJCF),
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"pepper_description": Description(Format.URDF),
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"robotiq_2f85_description": Description(Format.URDF),
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"robotiq_2f85_mj_description": Description(Format.MJCF),
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"romeo_description": Description(Format.URDF),
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"sawyer_mj_description": Description(Format.MJCF),
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"shadow_hand_mj_description": Description(Format.MJCF),
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"simple_humanoid_description": Description(Format.URDF),
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"skydio_x2_description": Description(Format.URDF),
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"skydio_x2_mj_description": Description(Format.MJCF),
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"solo_description": Description(Format.URDF),
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"spryped_description": Description(Format.URDF),
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"stretch_description": Description(Format.URDF),
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"stretch_mj_description": Description(Format.MJCF),
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"talos_description": Description(Format.URDF),
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"tiago_description": Description(Format.URDF),
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"trifinger_edu_description": Description(Format.URDF),
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"ur5_description": Description(Format.URDF),
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"ur5e_mj_description": Description(Format.MJCF),
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"valkyrie_description": Description(Format.URDF),
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"viper_mj_description": Description(Format.MJCF),
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"yumi_description": Description(Format.URDF),
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"z1_description": Description(Format.URDF),
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"z1_mj_description": Description(Format.MJCF),

‎robot_descriptions/_repositories.py‎

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),
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"mujoco_menagerie": Repository(
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url="https://github.com/deepmind/mujoco_menagerie.git",
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commit="a099b54b539416bff0db4d35fc2271c35c10f37a",
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commit="915d92c60858c3649e04af2ae93ac2c51fe18c24",
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cache_path="mujoco_menagerie",
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),
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"nao_robot": Repository(

‎robot_descriptions/allegro_hand_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""Allegro Hand V3 MJCF description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "wonik_allegro")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "right_hand.xml")
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MJCF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "left_hand.xml")
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MJCF_PATH_RIGHT = MJCF_PATH

‎robot_descriptions/aloha_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""ALOHA 2 MJCF description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "aloha")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "scene.xml")

‎robot_descriptions/cf2_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""Crazyflie 2.0 MJCF description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "bitcraze_crazyflie_2")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "cf2.xml")

‎robot_descriptions/iiwa_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""KUKA iiwa14 MJCF description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "kuka_iiwa_14")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "iiwa14.xml")

‎robot_descriptions/op3_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""Robotis OP3 description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robotis_op3")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "op3.xml")

‎robot_descriptions/sawyer_mj_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""Rethink Robotics Sawyer MJCF description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"mujoco_menagerie",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "rethink_robotics_sawyer")
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MJCF_PATH: str = _path.join(PACKAGE_PATH, "sawyer.xml")

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