Add ToddlerBot MJCF descriptions

Author: stephane-caron

CHANGELOG.md

@@ -8,6 +8,8 @@ All notable changes to this project will be documented in this file.
 
 - Description: Aero Hand Open (MJCF)
 - Description: Aero Hand Open (URDF)
+- Description: ToddlerBot 2XC (MJDF)
+- Description: ToddlerBot 2XM (MJDF)
 
 ### Changed
 

README.md

@@ -262,6 +262,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `talos_description`             | TALOS                 | PAL Robotics             | URDF       | Apache-2.0 |
 | `talos_mj_description`          | TALOS                 | PAL Robotics             | MJCF       | Apache-2.0 |
 | `toddlerbot_description`        | ToddlerBot            | Stanford University      | URDF       | MIT |
+| `toddlerbot_2xc_mj_description` | ToddlerBot 2XC        | Stanford University      | URDF       | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/bf756430b615819654b640f321c71ba5c3ebeef8/toddlerbot_2xc/LICENSE) |
+| `toddlerbot_2xm_mj_description` | ToddlerBot 2XM        | Stanford University      | URDF       | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/bf756430b615819654b640f321c71ba5c3ebeef8/toddlerbot_2xm/LICENSE) |
 | `valkyrie_description`          | Valkyrie              | NASA JSC Robotics        | URDF       | NASA-1.3 |
 
 ### Mobile manipulators

robot_descriptions/_descriptions.py

@@ -232,6 +232,12 @@ def has_urdf(self) -> bool:
         Format.MJCF, tags={"mobile_manipulator"}
     ),
     "toddlerbot_description": Description(Format.URDF, tags={"humanoid"}),
+    "toddlerbot_2xc_mj_description": Description(
+        Format.MJCF, tags={"humanoid"}
+    ),
+    "toddlerbot_2xm_mj_description": Description(
+        Format.MJCF, tags={"humanoid"}
+    ),
     "trifinger_edu_description": Description(
         Format.URDF, tags={"educational"}
     ),

robot_descriptions/toddlerbot_2xc_mj_description.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""ToddlerBot 2XC 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, "toddlerbot_2xc")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "toddlerbot_2xc.xml")
+
+# Description-specific paths
+
+MJCF_PATH_MJX: str = _path.join(PACKAGE_PATH, "toddlerbot_2xc_mjx.xml")
+
+MJCF_PATH_POS: str = _path.join(PACKAGE_PATH, "toddlerbot_2xc_pos.xml")

robot_descriptions/toddlerbot_2xm_mj_description.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""ToddlerBot 2XM 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, "toddlerbot_2xm")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "toddlerbot_2xm.xml")
+
+# Description-specific paths
+
+MJCF_PATH_MJX: str = _path.join(PACKAGE_PATH, "toddlerbot_2xm_mjx.xml")
+
+MJCF_PATH_POS: str = _path.join(PACKAGE_PATH, "toddlerbot_2xm_pos.xml")