Add unitree g1 MJCF.

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: KUKA iiwa 7 (URDF)
+- Description: Unitree G1 (MJCF) (thanks to @kevinzakka)
 - Description: Unitree G1 (URDF) (thanks to @lvjonok)
 
 ### Changed

README.md

@@ -210,6 +210,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `atlas_v4_description`        | Atlas v4              | Boston Dynamics          | 30  | URDF       |
 | `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
 | `ergocub_description`         | ergoCub               | IIT                      | 57  | 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       |

robot_descriptions/_descriptions.py

@@ -77,6 +77,7 @@ def has_urdf(self) -> bool:
     "fanuc_m710ic_description": Description(Format.URDF),
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),
+    "g1_mj_description": Description(Format.MJCF),
     "gen2_description": Description(Format.URDF),
     "gen3_description": Description(Format.URDF),
     "gen3_mj_description": Description(Format.MJCF),

robot_descriptions/_repositories.py

@@ -152,7 +152,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="915d92c60858c3649e04af2ae93ac2c51fe18c24",
+        commit="95659f93be58e9e5600bcd1bc9c2379b4aa07fc6",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/g1_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""G1 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, "unitree_g1")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1.xml")