From 66a544aeeb0d7d9c87b06b5c6cf4b68af143d2c3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Tue, 3 Jun 2025 12:24:42 +0200 Subject: [PATCH 1/4] Add Fourier N1 description --- CHANGELOG.md | 1 + README.md | 1 + robot_descriptions/_descriptions.py | 1 + robot_descriptions/_repositories.py | 5 +++++ robot_descriptions/n1_description.py | 18 ++++++++++++++++++ 5 files changed, 26 insertions(+) create mode 100644 robot_descriptions/n1_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 6b8f0d3..15077c2 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file. ### Added - Description: Dynamixel 2R (MJCF) +- Description: Fourier N1 (URDF) - Description: YAM (MJCF) (thanks to @kevinzakka) ## [1.17.0] - 2025-05-08 diff --git a/README.md b/README.md index edd3411..6be690d 100644 --- a/README.md +++ b/README.md @@ -245,6 +245,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `jaxon_description` | JAXON | JSK | URDF | CC-BY-SA-4.0 ✖️ | | `jvrc_description` | JVRC-1 | AIST | URDF | BSD-2-Clause | | `jvrc_mj_description` | JVRC-1 | AIST | MJCF | BSD-2-Clause | +| `n1_description` | N1 | Fourier | URDF | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) | | `op3_mj_description` | OP3 | ROBOTIS | MJCF | Apache-2.0 | | `r2_description` | Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 | | `romeo_description` | Romeo | Aldebaran Robotics | URDF | BSD-3-Clause | diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py index 9a5592d..c651d4d 100644 --- a/robot_descriptions/_descriptions.py +++ b/robot_descriptions/_descriptions.py @@ -143,6 +143,7 @@ def has_urdf(self) -> bool: ), "mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}), "minitaur_description": Description(Format.URDF, tags={"quadruped"}), + "n1_description": Description(Format.URDF, tags={"humanoid"}), "nextage_description": Description(Format.URDF, tags={"dual_arm"}), "op3_mj_description": Description(Format.MJCF, tags={"humanoid"}), "panda_description": Description(Format.URDF, tags={"arm"}), diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 8349ac2..321fcaf 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -305,4 +305,9 @@ class Repository: commit="9a6a057a055babaf47119fac42c361fffc189128", cache_path="skydio_x2_description", ), + "Wiki-GRx-Models": Repository( + url="https://github.com/FFTAI/Wiki-GRx-Models.git", + commit="d5c0203712749282347c9b5d9d8f4949979f7bba", + cache_path="Wiki-GRx-Models", + ), } diff --git a/robot_descriptions/n1_description.py b/robot_descriptions/n1_description.py new file mode 100644 index 0000000..a2e189b --- /dev/null +++ b/robot_descriptions/n1_description.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""Fourier N1 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", + commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), +) + +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "N1") + +URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "N1_raw.urdf") From 0907481fb66630a9a7e8db6c43cbe7fd4f3455ab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Tue, 3 Jun 2025 14:43:17 +0200 Subject: [PATCH 2/4] Update license of N1 description The GitHub page shows a GPL-3.0 banner, but the content of the license file in the specific commit of the project is the Apache-2.0 license. --- README.md | 2 +- robot_descriptions/_repositories.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 6be690d..a709ca3 100644 --- a/README.md +++ b/README.md @@ -245,7 +245,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `jaxon_description` | JAXON | JSK | URDF | CC-BY-SA-4.0 ✖️ | | `jvrc_description` | JVRC-1 | AIST | URDF | BSD-2-Clause | | `jvrc_mj_description` | JVRC-1 | AIST | MJCF | BSD-2-Clause | -| `n1_description` | N1 | Fourier | URDF | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) | +| `n1_description` | N1 | Fourier | URDF | [Apache-2.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) | | `op3_mj_description` | OP3 | ROBOTIS | MJCF | Apache-2.0 | | `r2_description` | Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 | | `romeo_description` | Romeo | Aldebaran Robotics | URDF | BSD-3-Clause | diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 321fcaf..8043477 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -307,7 +307,7 @@ class Repository: ), "Wiki-GRx-Models": Repository( url="https://github.com/FFTAI/Wiki-GRx-Models.git", - commit="d5c0203712749282347c9b5d9d8f4949979f7bba", + commit="f8e683f00d1d99deb882deb9dfce6030095b466a", cache_path="Wiki-GRx-Models", ), } From 537669154d0dbd3791c9e86b34665c5911b519cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Tue, 10 Jun 2025 13:14:13 +0200 Subject: [PATCH 3/4] Fix repository path in new N1 description --- robot_descriptions/n1_description.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_descriptions/n1_description.py b/robot_descriptions/n1_description.py index a2e189b..4a623ce 100644 --- a/robot_descriptions/n1_description.py +++ b/robot_descriptions/n1_description.py @@ -9,7 +9,7 @@ from ._cache import clone_to_cache as _clone_to_cache REPOSITORY_PATH: str = _clone_to_cache( - "unitree_ros", + "Wiki-GRx-Models", commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), ) From 4f36c97254d89e0f6464db8b98794d9dd19d0c34 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Tue, 10 Jun 2025 13:30:32 +0200 Subject: [PATCH 4/4] Fix package path to N1 description --- robot_descriptions/n1_description.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_descriptions/n1_description.py b/robot_descriptions/n1_description.py index 4a623ce..ac1bc7b 100644 --- a/robot_descriptions/n1_description.py +++ b/robot_descriptions/n1_description.py @@ -13,6 +13,6 @@ commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), ) -PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "N1") +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "N1") URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "N1_raw.urdf")