From 06813205bd051f95222cf0627a5da7a5541bbda6 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Sat, 20 Jul 2024 17:35:02 -0400 Subject: [PATCH] Modify existing kinova mj model and point to menagerie. --- CHANGELOG.md | 4 +++- README.md | 2 +- robot_descriptions/_repositories.py | 2 +- robot_descriptions/gen3_mj_description.py | 8 +++---- .../kinova_gen3_mj_description.py | 21 ------------------- 5 files changed, 9 insertions(+), 28 deletions(-) delete mode 100644 robot_descriptions/kinova_gen3_mj_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 8589454..126eac4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,7 +6,9 @@ All notable changes to this project will be documented in this file. ### Added -- Description: Kinova Gen3 (MJCF) (thanks to @kevinzakka) +### Changed + +- Update repository for ``gen3_mj_description`` to ``mujoco_menagerie`` ## [1.11.0] - 2024-06-27 diff --git a/README.md b/README.md index 024fc4c..89a354a 100644 --- a/README.md +++ b/README.md @@ -136,7 +136,7 @@ The DOF column denotes the number of actuated degrees of freedom. | `fr3_mj_description` | FR3 | Franka Robotics | 7 | MJCF | | `gen2_description` | Gen2 (Jaco) | Kinova | 6 | URDF | | `gen3_description` | Gen3 (Jaco) | Kinova | 6 | URDF | -| `gen3_mj_description` | Gen3 (Jaco) | Kinova | 7 | MJCF | +| `gen3_mj_description` | Gen3 | Kinova | 7 | MJCF | | `iiwa14_description` | iiwa 14 | KUKA | 7 | URDF | | `iiwa14_mj_description` | iiwa 14 | KUKA | 7 | MJCF | | `iiwa7_description` | iiwa 7 | KUKA | 7 | URDF | diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 613c452..a895208 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -152,7 +152,7 @@ class Repository: ), "mujoco_menagerie": Repository( url="https://github.com/deepmind/mujoco_menagerie.git", - commit="af493511dbdfce2e046858a4d2f2955e063e17fd", + commit="3d593a327ff8d5efd10f4926ccc477820e9252c1", cache_path="mujoco_menagerie", ), "nao_robot": Repository( diff --git a/robot_descriptions/gen3_mj_description.py b/robot_descriptions/gen3_mj_description.py index 43596b4..d22ae5b 100644 --- a/robot_descriptions/gen3_mj_description.py +++ b/robot_descriptions/gen3_mj_description.py @@ -4,7 +4,7 @@ # SPDX-License-Identifier: Apache-2.0 # Copyright 2022 Stéphane Caron -"""Kinova Jaco Gen3 description.""" +"""Kinova Gen3 MJCF description.""" from os import getenv as _getenv from os import path as _path @@ -12,10 +12,10 @@ from ._cache import clone_to_cache as _clone_to_cache REPOSITORY_PATH: str = _clone_to_cache( - "kinova_mj_description", + "mujoco_menagerie", commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None), ) -PACKAGE_PATH: str = _path.join(REPOSITORY_PATH) +PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "kinova_gen3") -MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "gen3_7dof_mujoco.xml") +MJCF_PATH: str = _path.join(PACKAGE_PATH, "gen3.xml") diff --git a/robot_descriptions/kinova_gen3_mj_description.py b/robot_descriptions/kinova_gen3_mj_description.py deleted file mode 100644 index d22ae5b..0000000 --- a/robot_descriptions/kinova_gen3_mj_description.py +++ /dev/null @@ -1,21 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -# -# SPDX-License-Identifier: Apache-2.0 -# Copyright 2022 Stéphane Caron - -"""Kinova Gen3 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, "kinova_gen3") - -MJCF_PATH: str = _path.join(PACKAGE_PATH, "gen3.xml")