Merge pull request #108 from kevinzakka/mujoco/leap-hand

Add LEAP hand MJCF description from Menagerie.

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Unitree B2
+- Description: Left and right LEAP hand (MJCF) (thanks to @kevinzakka)
 
 ### Changed
 

README.md

@@ -202,6 +202,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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       |
+| `leap_hand_mj_description`    | LEAP Hand             | Carnegie Mellon University | 16  | MJCF       |
 | `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       |

robot_descriptions/_descriptions.py

@@ -98,6 +98,7 @@ def has_urdf(self) -> bool:
     "jvrc_mj_description": Description(Format.MJCF),
     "laikago_description": Description(Format.URDF),
     "leap_hand_v1": Description(Format.URDF),
+    "leap_hand_mj_description": Description(Format.MJCF),
     "mini_cheetah_description": Description(Format.URDF),
     "minitaur_description": Description(Format.URDF),
     "nextage_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -157,7 +157,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="3d593a327ff8d5efd10f4926ccc477820e9252c1",
+        commit="f59b989dea80a523b0e0b0fbe550c664939c6376",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/leap_hand_mj_description.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""LEAP hand 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, "leap_hand")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "right_hand.xml")
+
+# Description-specific paths
+
+MJCF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "left_hand.xml")
+
+MJCF_PATH_RIGHT: str = _path.join(PACKAGE_PATH, "right_hand.xml")