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Add Berkeley Humanoid description #113

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merged 3 commits into from
Nov 8, 2024
Merged

Add Berkeley Humanoid description #113

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6c64de0
Add Berkeley Humanoid description
stephane-caron Nov 8, 2024
b1ec811
Correct description name
stephane-caron Nov 8, 2024
1bf298a
Correct repository URL
stephane-caron Nov 8, 2024
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.

## [Unreleased]

### Added

- Description: Berkeley Humanoid

## [1.13.0] - 2024-10-30

### Added
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43 changes: 22 additions & 21 deletions README.md
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Expand Up @@ -211,27 +211,28 @@ The DOF column denotes the number of actuated degrees of freedom.

### Humanoids

| Name | Robot | Maker | DOF | Format |
|-------------------------------|-----------------------|--------------------------|-----|------------|
| `atlas_drc_description` | Atlas DRC (v3) | Boston Dynamics | 30 | URDF |
| `atlas_v4_description` | Atlas v4 | Boston Dynamics | 30 | URDF |
| `draco3_description` | Draco3 | Apptronik | 25 | URDF |
| `ergocub_description` | ergoCub | IIT | 57 | URDF |
| `g1_description` | G1 | UNITREE Robotics | 37 | URDF |
| `g1_mj_description` | G1 | UNITREE Robotics | 37 | MJCF |
| `h1_description` | H1 | UNITREE Robotics | 25 | URDF |
| `h1_mj_description` | H1 | UNITREE Robotics | 25 | MJCF |
| `icub_description` | iCub | IIT | 32 | URDF |
| `jaxon_description` | JAXON | JSK | 38 | URDF |
| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
| `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 |
| Name | Robot | Maker | DOF | Format |
|---------------------------------|-----------------------|--------------------------|-----|------------|
| `atlas_drc_description` | Atlas DRC (v3) | Boston Dynamics | 30 | URDF |
| `atlas_v4_description` | Atlas v4 | Boston Dynamics | 30 | URDF |
| `berkeley_humanoid_description` | Berkeley Humanoid | Hybrid Robotics | 12 | URDF |
| `draco3_description` | Draco3 | Apptronik | 25 | URDF |
| `ergocub_description` | ergoCub | IIT | 57 | URDF |
| `g1_description` | G1 | UNITREE Robotics | 37 | URDF |
| `g1_mj_description` | G1 | UNITREE Robotics | 37 | MJCF |
| `h1_description` | H1 | UNITREE Robotics | 25 | URDF |
| `h1_mj_description` | H1 | UNITREE Robotics | 25 | MJCF |
| `icub_description` | iCub | IIT | 32 | URDF |
| `jaxon_description` | JAXON | JSK | 38 | URDF |
| `jvrc_description` | JVRC-1 | AIST | 34 | URDF |
| `jvrc_mj_description` | JVRC-1 | AIST | 34 | MJCF |
| `op3_mj_description` | OP3 | ROBOTIS | 20 | MJCF |
| `r2_description` | Robonaut 2 | NASA JSC Robotics | 56 | URDF |
| `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

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1 change: 1 addition & 0 deletions robot_descriptions/_descriptions.py
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Expand Up @@ -65,6 +65,7 @@ def has_urdf(self) -> bool:
"b2_description": Description(Format.URDF),
"barrett_hand_description": Description(Format.URDF),
"baxter_description": Description(Format.URDF),
"berkeley_humanoid_description": Description(Format.URDF),
"bolt_description": Description(Format.URDF),
"cassie_description": Description(Format.URDF),
"cassie_mj_description": Description(Format.MJCF),
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5 changes: 5 additions & 0 deletions robot_descriptions/_repositories.py
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Expand Up @@ -41,6 +41,11 @@ class Repository:
commit="v1.2.0",
cache_path="baxter_common",
),
"berkeley_humanoid_description": Repository(
url="https://github.com/HybridRobotics/berkeley_humanoid_description",
commit="d0d13d3f81d795480e25ed1910eaf83d5f0a1d0b",
cache_path="berkeley_humanoid_description",
),
"bhand_model": Repository(
url="https://github.com/jhu-lcsr-attic/bhand_model.git",
commit="937f4186d6458bd682a7dae825fb6f4efe56ec69",
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21 changes: 21 additions & 0 deletions robot_descriptions/berkeley_humanoid_description.py
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@@ -0,0 +1,21 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0
# Copyright 2024 Inria

"""Berkeley Humanoid 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(
"berkeley_humanoid_description",
commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
)

PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)

URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")
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