Add LEAP Hand v1 description

robot-descriptions · Jul 22, 2024 · 076ca02 · 076ca02
1 parent 4f24388
commit 076ca02
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Showing 5 changed files with 41 additions and 11 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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")