Merge pull request #64 from kevinzakka/go1-mj-fix

Minor unitree model fixes.

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Switch MuJoCo models of the Unitree Go1, Go2 and H1 to MuJoCo Menagerie.
 - Description: Allegro Hand V3 (MJCF)
 - Description: ALOHA 2 (MJCF)
 - Description: Bitcraze Crazyflie 2.0 (MJCF)

robot_descriptions/go1_mj_description.py

@@ -4,20 +4,18 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 
-"""Go1 MJCF description."""
+"""Unitree Go1 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(
-    "unitree_mujoco",
+    "mujoco_menagerie",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "go1")
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "unitree_go1")
 
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "go1.xml")
-
-URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "go1.urdf")
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "go1.xml")

robot_descriptions/go2_mj_description.py

@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 
-"""Go1 MJCF description."""
+"""Unitree Go2 MJCF description."""
 
 from os import getenv as _getenv
 from os import path as _path

robot_descriptions/h1_mj_description.py

@@ -4,18 +4,18 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 
-"""Panda MJCF description."""
+"""Unitree H1 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(
-    "unitree_ros",
+    "mujoco_menagerie",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "h1_description")
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "unitree_h1")
 
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "mjcf", "h1.xml")
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "h1.xml")