Merge pull request #109 from kevinzakka/mujoco/pal-talos

Add PAL Talos MJCF description from Menagerie.

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 - Description: Unitree B2
 - Description: Left and right LEAP hand (MJCF) (thanks to @kevinzakka)
+- Description: PAL Talos (MJCF) (thanks to @kevinzakka)
 
 ### Changed
 

README.md

@@ -229,6 +229,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `romeo_description`           | Romeo                 | Aldebaran Robotics       | 37  | URDF       |
 | `sigmaban_description`        | SigmaBan              | Rhoban                   | 20  | URDF       |
 | `talos_description`           | TALOS                 | PAL Robotics             | 32  | URDF       |
+| `talos_mj_description`        | TALOS                 | PAL Robotics             | 32  | MJCF       |
 | `valkyrie_description`        | Valkyrie              | NASA JSC Robotics        | 59  | URDF       |
 
 ### Mobile manipulators

robot_descriptions/_descriptions.py

@@ -125,6 +125,7 @@ def has_urdf(self) -> bool:
     "stretch_description": Description(Format.URDF),
     "stretch_mj_description": Description(Format.MJCF),
     "talos_description": Description(Format.URDF),
+    "talos_mj_description": Description(Format.MJCF),
     "tiago_description": Description(Format.URDF),
     "trifinger_edu_description": Description(Format.URDF),
     "upkie_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="f59b989dea80a523b0e0b0fbe550c664939c6376",
+        commit="511be2a8bea4bf06ea4a1825c304a5b0cc6b67b1",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/talos_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""PAL Talos 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, "pal_talos")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "talos_position.xml")