Merge pull request #165 from robot-descriptions/add/gr1_description

Add Fourier GR-1 URDF description

Author: stephane-caron

CHANGELOG.md

@@ -7,9 +7,10 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - CLI: Add `pull` command to `robot_description` and cache it (thanks to @haixuantao)
+- Description: BamBot (URDF)
 - Description: Booster T1 (MJCF)
 - Description: Booster T1 (URDF)
-- Description: BamBot (URDF)
+- Description: Fourier GR-1 (URDF)
 - Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
 - Description: SO ARM 101 (URDF) (thanks to @haixuantao)
 

README.md

@@ -239,6 +239,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ergocub_description`           | ergoCub               | IIT                      | URDF       | BSD-3-Clause |
 | `g1_description`                | G1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `g1_mj_description`             | G1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
+| `gr1_description`               | GR-1                  | Fourier                  | URDF       | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/351245ac8fa4bf6f4b0c41556e1e6976a438bcef/LICENSE) |
 | `h1_description`                | H1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `h1_mj_description`             | H1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 | `icub_description`              | iCub                  | IIT                      | URDF       | CC-BY-SA-4.0 ✖️  |

robot_descriptions/_descriptions.py

@@ -128,6 +128,7 @@ def has_urdf(self) -> bool:
     "go1_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "go2_description": Description(Format.URDF, tags={"quadruped"}),
     "go2_mj_description": Description(Format.MJCF, tags={"quadruped"}),
+    "gr1_description": Description(Format.URDF, tags={"humanoid"}),
     "h1_description": Description(Format.URDF, tags={"humanoid"}),
     "h1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "hyq_description": Description(Format.URDF, tags={"quadruped"}),

robot_descriptions/_repositories.py

@@ -317,7 +317,12 @@ class Repository:
     ),
     "Wiki-GRx-Models": Repository(
         url="https://github.com/FFTAI/Wiki-GRx-Models.git",
-        commit="f8e683f00d1d99deb882deb9dfce6030095b466a",
+        commit="351245ac8fa4bf6f4b0c41556e1e6976a438bcef",
         cache_path="Wiki-GRx-Models",
     ),
+    "Wiki-GRx-Models-FourierN1": Repository(
+        url="https://github.com/FFTAI/Wiki-GRx-Models.git",
+        commit="f8e683f00d1d99deb882deb9dfce6030095b466a",  # FourierN1 branch
+        cache_path="Wiki-GRx-Models-FourierN1",
+    ),
 }

robot_descriptions/gr1_description.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""GR-1 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(
+    "Wiki-GRx-Models",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "GRX", "GR1", "GR1T1")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "GR1T1_nohand.urdf")
+
+URDF_PATH_NO_HAND: str = _path.join(PACKAGE_PATH, "urdf", "GR1T1_no_hand.urdf")
+
+URDF_PATH_FOURIER_HAND: str = _path.join(
+    PACKAGE_PATH, "urdf", "GR1T1_fourier_hand_6dof.urdf"
+)
+
+URDF_PATH_INSPIRE_HAND: str = _path.join(
+    PACKAGE_PATH, "urdf", "GR1T1_inspire_hand.urdf"
+)
+
+URDF_PATH_JAW: str = _path.join(PACKAGE_PATH, "GR1T1_jaw.urdf")

robot_descriptions/n1_description.py

@@ -9,7 +9,7 @@
 from ._cache import clone_to_cache as _clone_to_cache
 
 REPOSITORY_PATH: str = _clone_to_cache(
-    "Wiki-GRx-Models",
+    "Wiki-GRx-Models-FourierN1",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )