From 3f7c63e462b786d1a18453bd31407dc7aa18d0e6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 22 Jul 2024 18:58:41 +0200 Subject: [PATCH 1/2] Fix name of Kinova descriptions See https://github.com/robot-descriptions/robot_descriptions.py/pull/93#issuecomment-2241302006 Thanks @kevinzakka! --- README.md | 4 ++-- robot_descriptions/gen2_description.py | 2 +- robot_descriptions/gen3_description.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 21bf7ce..284671f 100644 --- a/README.md +++ b/README.md @@ -134,8 +134,8 @@ The DOF column denotes the number of actuated degrees of freedom. | `edo_description` | e.DO | Comau | 6 | URDF | | `fanuc_m710ic_description` | M-710iC | Fanuc | 6 | URDF | | `fr3_mj_description` | FR3 | Franka Robotics | 7 | MJCF | -| `gen2_description` | Gen2 (Jaco) | Kinova | 6 | URDF | -| `gen3_description` | Gen3 (Jaco) | Kinova | 6 | URDF | +| `gen2_description` | Gen2 | Kinova | 6 | URDF | +| `gen3_description` | Gen3 | Kinova | 6 | URDF | | `gen3_mj_description` | Gen3 | Kinova | 7 | MJCF | | `iiwa14_description` | iiwa 14 | KUKA | 7 | URDF | | `iiwa14_mj_description` | iiwa 14 | KUKA | 7 | MJCF | diff --git a/robot_descriptions/gen2_description.py b/robot_descriptions/gen2_description.py index 023a448..0eff3ff 100644 --- a/robot_descriptions/gen2_description.py +++ b/robot_descriptions/gen2_description.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 # Copyright 2022 Stéphane Caron -"""Kinova Jaco Gen2 description.""" +"""Kinova Gen2 description.""" from os import getenv as _getenv from os import path as _path diff --git a/robot_descriptions/gen3_description.py b/robot_descriptions/gen3_description.py index 5b9a11c..cc2f6d9 100644 --- a/robot_descriptions/gen3_description.py +++ b/robot_descriptions/gen3_description.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 # Copyright 2022 Stéphane Caron -"""Kinova Jaco Gen3 description.""" +"""Kinova Gen3 description.""" from os import getenv as _getenv from os import path as _path From 64d5ac78d61d37722564959702877abd4483bfbf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Mon, 22 Jul 2024 19:07:45 +0200 Subject: [PATCH 2/2] Add LEAP Hand v1 description --- CHANGELOG.md | 6 ++++-- README.md | 19 ++++++++++--------- robot_descriptions/_descriptions.py | 1 + robot_descriptions/_repositories.py | 5 +++++ robot_descriptions/leap_hand_v1.py | 21 +++++++++++++++++++++ 5 files changed, 41 insertions(+), 11 deletions(-) create mode 100644 robot_descriptions/leap_hand_v1.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 86bafc4..c9cbfa6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,10 @@ All notable changes to this project will be documented in this file. ### Added +- Description: LEAP Hand v1 +- Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka) +- Description: Stretch 3 (MJCF) (thanks to @kevinzakka) + ### Changed - Update repository for ``gen3_mj_description`` to ``mujoco_menagerie`` @@ -14,8 +18,6 @@ All notable changes to this project will be documented in this file. ### Added -- Description: Stretch 3 (MJCF) (thanks to @kevinzakka) -- Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka) - Description: KUKA iiwa 7 (URDF) - Description: Unitree G1 (MJCF) (thanks to @kevinzakka) - Description: Unitree G1 (URDF) (thanks to @lvjonok) diff --git a/README.md b/README.md index 284671f..439b265 100644 --- a/README.md +++ b/README.md @@ -195,15 +195,16 @@ 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 | -| `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 | +| `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 | ### Humanoids diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py index 727539d..48971fd 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -96,6 +96,7 @@ def has_urdf(self) -> bool: "jvrc_description": Description(Format.URDF), "jvrc_mj_description": Description(Format.MJCF), "laikago_description": Description(Format.URDF), + "leap_hand_v1": Description(Format.URDF), "mini_cheetah_description": Description(Format.URDF), "minitaur_description": Description(Format.URDF), "nextage_description": Description(Format.URDF), diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index a895208..dc3c538 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -140,6 +140,11 @@ class Repository: commit="0f0ce7daefdd66c54e0909a6bf2c22154844f5f3", cache_path="jvrc_mj_description", ), + "LEAP_Hand_Sim": Repository( + url="https://github.com/leap-hand/LEAP_Hand_Sim.git", + commit="150bc3d4b61fd6619193ba5a8ef209f3609ced89", + cache_path="LEAP_Hand_Sim", + ), "kinova_mj_description": Repository( url="https://github.com/mathieu-celerier/kinova_mj_description.git", commit="cee556b0a438e6904634a90826d4e8d2e005cd1f", diff --git a/robot_descriptions/leap_hand_v1.py b/robot_descriptions/leap_hand_v1.py new file mode 100644 index 0000000..1fa1af8 --- /dev/null +++ b/robot_descriptions/leap_hand_v1.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# SPDX-License-Identifier: Apache-2.0 +# Copyright 2024 Inria + +"""LEAP hand v1 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( + "LEAP_Hand_Sim", + commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), +) + +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "assets", "leap_hand") + +URDF_PATH: str = _path.join(PACKAGE_PATH, "robot.urdf")