Merge branch 'Danfoa-master'

robot-descriptions · Apr 22, 2024 · 1ef00c3 · 1ef00c3
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,11 +6,39 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: UFACTORY xArm7 (MJCF) (thanks to @kevinzakka)
+
+### Changed
+
+- Split Aliengo into MJCF and URDF descriptions (thanks to @Danfoa)
+- Update Aliengo URDF to a more active repository (thanks to @Danfoa)
+
+## [1.9.0] - 2024-03-27
+
+### Added
+
 - Citation file and BibTeX section in the readme
+- Description: Allegro Hand V3 (MJCF) (thanks to @kevinzakka)
+- Description: ALOHA 2 (MJCF) (thanks to @kevinzakka)
+- Description: Bitcraze Crazyflie 2.0 (MJCF) (thanks to @kevinzakka)
+- Description: KUKA iiwa 14 (MJCF) (thanks to @kevinzakka)
+- Description: Robotics OP3 (MJCF) (thanks to @kevinzakka)
+- Description: Saywer (MJCF) (thanks to @kevinzakka)
+- Description: Stretch 2 (MJCF) (thanks to @kevinzakka)
+- Description: ViperX 300 6DOF (MJCF) (thanks to @kevinzakka)
 
 ### Changed
 
-- Update Upkie description to v1.5.0
+- Go1: Switch repository to MuJoCo Menagerie
+- Go2: Switch repository to MuJoCo Menagerie
+- H1: Switch repository to MuJoCo Menagerie
+- JVRC-1: Update repository to maintained one at jrl-umi3218
+- Upkie: Update repository to v1.5.0
+
+### Fixed
+
+- Bug when cloning a non-pinned description after a commit-pinned one
+- Package name resolution when pinning a description to a specific commit
 
 ## [1.8.1] - 2024-01-29
 
@@ -312,7 +340,8 @@ This initial release includes 33 robot descriptions:
 - Contributing instructions
 - This changelog
 
-[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.1...HEAD
+[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v1.9.0...HEAD
+[1.9.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.1...v1.9.0
 [1.8.1]: https://github.com/qpsolvers/qpsolvers/compare/v1.8.0...v1.8.1
 [1.8.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.7.0...v1.8.0
 [1.7.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.6.0...v1.7.0

diff --git a/CITATION.cff b/CITATION.cff
@@ -1,7 +1,7 @@
 cff-version: 1.2.0
 message: "If you find this code helpful, please cite it as below."
 title: "robot_descriptions.py: Robot descriptions in Python"
-version: 1.8.1
+version: 1.9.0
 date-released: 2024-01-29
 url: "https://github.com/robot-descriptions/robot_descriptions.py"
 license: "Apache-2.0"
@@ -21,3 +21,5 @@ authors:
   orcid: "https://orcid.org/0000-0002-7336-1443"
 - family-names: "Bang"
   given-names: "Seung Hyeon"
+- family-names: "Zakka"
+  given-names: "Kevin"
diff --git a/README.md b/README.md
@@ -12,13 +12,17 @@ Importing a description for the first time automatically downloads and caches fi
 
 ## Installation
 
-### Install from pip
+### PyPI
+
+[![PyPI version](https://img.shields.io/pypi/v/robot_descriptions)](https://pypi.org/project/robot_descriptions/)
 
 ```console
 pip install robot_descriptions
 ```
 
-### Install from conda
+### Conda
+
+[![Conda Version](https://img.shields.io/conda/vn/conda-forge/robot_descriptions.svg)](https://anaconda.org/conda-forge/robot_descriptions)
 
 ```console
 conda install -c conda-forge robot_descriptions
@@ -111,15 +115,15 @@ robot_descriptions show solo_description
 
 Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
 
-* [Arms](#arms)
-* [Bipeds](#bipeds)
-* [Dual arms](#dual-arms)
-* [Drones](#drones)
-* [Educational](#educational)
-* [End effectors](#end-effectors)
-* [Mobile manipulators](#mobile-manipulators)
-* [Humanoids](#humanoids)
-* [Quadrupeds](#quadrupeds)
+- [Arms](#arms)
+- [Bipeds](#bipeds)
+- [Dual arms](#dual-arms)
+- [Drones](#drones)
+- [Educational](#educational)
+- [End effectors](#end-effectors)
+- [Humanoids](#humanoids)
+- [Mobile manipulators](#mobile-manipulators)
+- [Quadrupeds](#quadrupeds)
 
 The DOF column denotes the number of actuated degrees of freedom.
 
@@ -133,14 +137,18 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
 | `iiwa_description`            | iiwa                  | KUKA                     | 7   | URDF       |
+| `iiwa_mj_description`         | iiwa14                | KUKA                     | 7   | MJCF       |
 | `panda_description`           | Panda                 | Franka Emika             | 8   | URDF       |
 | `panda_mj_description`        | Panda                 | Franka Emika             | 8   | MJCF       |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | 6   | URDF       |
+| `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | 7   | MJCF       |
 | `ur10_description`            | UR10                  | Universal Robots         | 6   | URDF       |
 | `ur10e_mj_description`        | UR10e                 | Universal Robots         | 6   | MJCF       |
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |
+| `viper_mj_description`        | Viper                 | Trossen Robotics         | 7   | MJCF       |
+| `xarm7_mj_description`        | xArm7                 | UFACTORY                 | 7   | MJCF       |
 | `z1_description`              | Z1                    | UNITREE Robotics         | 6   | URDF       |
 
 ### Bipeds
@@ -158,6 +166,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 | Name                          | Robot                 | Maker                    | DOF | Format     |
 |-------------------------------|-----------------------|--------------------------|-----|------------|
+| `aloha_mj_description`        | Aloha 2               | Trossen Robotics         | 14  | MJCF       |
 | `baxter_description`          | Baxter                | Rethink Robotics         | 15  | URDF       |
 | `nextage_description`         | NEXTAGE               | Kawada Robotics          | 15  | URDF       |
 | `poppy_torso_description`     | Poppy Torso           | Poppy Project            | 13  | URDF       |
@@ -168,6 +177,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                          | Robot                 | Maker                    | DOF | Format     |
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `cf2_description`             | Crazyflie 2.0         | Bitcraze                 | 0   | URDF       |
+| `cf2_mj_description`          | Crazyflie 2.0         | Bitcraze                 | 6   | MJCF       |
 | `skydio_x2_description`       | Skydio X2             | Skydio                   | 6   | URDF       |
 | `skydio_x2_mj_description`    | Skydio X2             | Skydio                   | 6   | MJCF       |
 
@@ -185,6 +195,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | 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       |
 | `robotiq_2f85_description`    | Robotiq 2F-85         | Robotiq                  | 1   | URDF       |
 | `robotiq_2f85_mj_description` | Robotiq 2F-85         | Robotiq                  | 1   | MJCF       |
@@ -204,6 +215,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `jaxon_description`           | JAXON                 | JSK                      | 38  | URDF       |
 | `jvrc_description`            | JVRC-1                | AIST                     | 34  | URDF       |
 | `jvrc_mj_description`         | JVRC-1                | AIST                     | 34  | MJCF       |
+| `op3_mj_description`          | OP3                   | ROBOTIS                  | 20  | MJCF       |
 | `r2_description`              | Robonaut 2            | NASA JSC Robotics        | 56  | URDF       |
 | `romeo_description`           | Romeo                 | Aldebaran Robotics       | 37  | URDF       |
 | `sigmaban_description`        | SigmaBan              | Rhoban                   | 20  | URDF       |
@@ -221,20 +233,22 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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       |
 | `tiago_description`           | TIAGo                 | PAL Robotics             | 48  | URDF       |
 
 ### Quadrupeds
 
 | Name                          | Robot                 | Maker                    | DOF | Format     |
 |-------------------------------|-----------------------|--------------------------|-----|------------|
-| `a1_mj_description`           | A1                    | UNITREE Robotics         | 12  | MJCF       |
 | `a1_description`              | A1                    | UNITREE Robotics         | 12  | URDF       |
-| `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
-| `aliengo_description`         | Aliengo               | UNITREE Robotics         | 12  | MJCF, URDF |
-| `anymal_b_mj_description`     | ANYmal B              | ANYbotics                | 12  | MJCF       |
+| `a1_mj_description`           | A1                    | UNITREE Robotics         | 12  | MJCF       |
+| `aliengo_description`         | Aliengo               | UNITREE Robotics         | 12  | URDF       |
+| `aliengo_mj_description`      | Aliengo               | UNITREE Robotics         | 12  | MJCF       |
 | `anymal_b_description`        | ANYmal B              | ANYbotics                | 12  | URDF       |
+| `anymal_b_mj_description`     | ANYmal B              | ANYbotics                | 12  | MJCF       |
 | `anymal_c_description`        | ANYmal C              | ANYbotics                | 12  | URDF       |
 | `anymal_c_mj_description`     | ANYmal C              | ANYbotics                | 12  | MJCF       |
+| `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
 | `go1_description`             | Go1                   | UNITREE Robotics         | 12  | URDF       |
 | `go1_mj_description`          | Go1                   | UNITREE Robotics         | 12  | MJCF       |
 | `go2_description`             | Go2                   | UNITREE Robotics         | 12  | URDF       |
@@ -259,12 +273,12 @@ If you use `robot_descriptions.py` in your scientific works, please cite it *e.g
 
 ```bibtex
 @software{robot_descriptions_py2024,
-  author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordonez, Daniel and Tadashi Kussaba, Hugo and Bang, Seung Hyeon},
+  author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordonez, Daniel and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin},
   license = {Apache-2.0},
-  month = feb,
+  month = mar,
   title = {{robot_descriptions.py: Robot descriptions in Python}},
   url = {https://github.com/robot-descriptions/robot_descriptions.py},
-  version = {1.8.1},
+  version = {1.9.0},
   year = {2024}
 }
 ```

diff --git a/robot_descriptions/__init__.py b/robot_descriptions/__init__.py
@@ -6,4 +6,4 @@
 
 """Import open source robot description as Python modules."""
 
-__version__ = "1.8.1"
+__version__ = "1.9.0"
diff --git a/robot_descriptions/_cache.py b/robot_descriptions/_cache.py
@@ -130,11 +130,25 @@ def clone_to_cache(description_name: str, commit: Optional[str] = None) -> str:
 
     cache_path = repository.cache_path
     if commit is not None:
-        cache_path += f"-{commit}"
+        # Requirement: the last directory in the cache path is named after the
+        # cache path (more precisely the package name) so that package:// URIs
+        # work in frameworks that resolve them via directories
+        cache_path = f"{cache_path}-{commit}/{cache_path}"
     target_dir = os.path.join(cache_dir, cache_path)
     clone = clone_to_directory(
         repository.url,
         target_dir,
         commit=repository.commit if commit is None else commit,
     )
     return str(clone.working_dir)
+
+
+def clear_cache() -> None:
+    """Clears the local cache where robot descriptions are stored."""
+    cache_dir = os.path.expanduser(
+        os.environ.get(
+            "ROBOT_DESCRIPTIONS_CACHE",
+            "~/.cache/robot_descriptions",
+        )
+    )
+    shutil.rmtree(cache_dir, ignore_errors=True)
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
@@ -50,8 +50,11 @@ def has_urdf(self) -> bool:
 DESCRIPTIONS: Dict[str, Description] = {
     "a1_description": Description(Format.URDF),
     "a1_mj_description": Description(Format.MJCF),
-    "aliengo_description": Description(Format.MJCF),
+    "aliengo_description": Description(Format.URDF),
+    "aliengo_mj_description": Description(Format.MJCF),
+    "aloha_mj_description": Description(Format.MJCF),
     "allegro_hand_description": Description(Format.URDF),
+    "allegro_hand_mj_description": Description(Format.MJCF),
     "anymal_b_description": Description(Format.URDF),
     "anymal_b_mj_description": Description(Format.MJCF),
     "anymal_c_description": Description(Format.URDF),
@@ -65,6 +68,7 @@ def has_urdf(self) -> bool:
     "cassie_description": Description(Format.URDF),
     "cassie_mj_description": Description(Format.MJCF),
     "cf2_description": Description(Format.URDF),
+    "cf2_mj_description": Description(Format.MJCF),
     "double_pendulum_description": Description(Format.URDF),
     "draco3_description": Description(Format.URDF),
     "edo_description": Description(Format.URDF),
@@ -84,13 +88,15 @@ def has_urdf(self) -> bool:
     "hyq_description": Description(Format.URDF),
     "icub_description": Description(Format.URDF),
     "iiwa_description": Description(Format.URDF),
+    "iiwa_mj_description": Description(Format.MJCF),
     "jaxon_description": Description(Format.URDF),
     "jvrc_description": Description(Format.URDF),
     "jvrc_mj_description": Description(Format.MJCF),
     "laikago_description": Description(Format.URDF),
     "mini_cheetah_description": Description(Format.URDF),
     "minitaur_description": Description(Format.URDF),
     "nextage_description": Description(Format.URDF),
+    "op3_mj_description": Description(Format.MJCF),
     "panda_description": Description(Format.URDF),
     "panda_mj_description": Description(Format.MJCF),
     "pepper_description": Description(Format.URDF),
@@ -103,13 +109,15 @@ def has_urdf(self) -> bool:
     "robotiq_2f85_description": Description(Format.URDF),
     "robotiq_2f85_mj_description": Description(Format.MJCF),
     "romeo_description": Description(Format.URDF),
+    "sawyer_mj_description": Description(Format.MJCF),
     "shadow_hand_mj_description": Description(Format.MJCF),
     "simple_humanoid_description": Description(Format.URDF),
     "skydio_x2_description": Description(Format.URDF),
     "skydio_x2_mj_description": Description(Format.MJCF),
     "solo_description": Description(Format.URDF),
     "spryped_description": Description(Format.URDF),
     "stretch_description": Description(Format.URDF),
+    "stretch_mj_description": Description(Format.MJCF),
     "talos_description": Description(Format.URDF),
     "tiago_description": Description(Format.URDF),
     "trifinger_edu_description": Description(Format.URDF),
@@ -120,6 +128,8 @@ def has_urdf(self) -> bool:
     "ur5_description": Description(Format.URDF),
     "ur5e_mj_description": Description(Format.MJCF),
     "valkyrie_description": Description(Format.URDF),
+    "viper_mj_description": Description(Format.MJCF),
+    "xarm7_mj_description": Description(Format.MJCF),
     "yumi_description": Description(Format.URDF),
     "z1_description": Description(Format.URDF),
     "z1_mj_description": Description(Format.MJCF),

diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
@@ -123,8 +123,8 @@ class Repository:
         cache_path="jaxon_description",
     ),
     "jvrc_description": Repository(
-        url="https://github.com/robot-descriptions/jvrc_description.git",
-        commit="b788e1a7c874b3447fc027e175f216c6192e9e96",
+        url="https://github.com/jrl-umi3218/jvrc_description.git",
+        commit="9ff8efbc7043459a8f0892662bd030d8020fb682",
         cache_path="jvrc_description",
     ),
     "jvrc_mj_description": Repository(
@@ -144,7 +144,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="a099b54b539416bff0db4d35fc2271c35c10f37a",
+        commit="915d92c60858c3649e04af2ae93ac2c51fe18c24",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

diff --git a/robot_descriptions/aliengo_description.py b/robot_descriptions/aliengo_description.py
@@ -12,12 +12,12 @@
 from ._cache import clone_to_cache as _clone_to_cache
 
 REPOSITORY_PATH: str = _clone_to_cache(
-    "unitree_mujoco",
+    "unitree_ros",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
-
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "robots", "aliengo_description"
+)
 
 URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "aliengo.urdf")
diff --git a/robot_descriptions/aliengo_mj_description.py b/robot_descriptions/aliengo_mj_description.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Aliengo 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",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")
diff --git a/robot_descriptions/allegro_hand_mj_description.py b/robot_descriptions/allegro_hand_mj_description.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Allegro Hand V3 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, "wonik_allegro")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "right_hand.xml")
+
+MJCF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "left_hand.xml")
+
+MJCF_PATH_RIGHT = MJCF_PATH
Original file line number	Diff line number	Diff line change
Expand Up		@@ -6,4 +6,4 @@

		"""Import open source robot description as Python modules."""

		__version__ = "1.8.1"
		__version__ = "1.9.0"