Add MJCF description for JVRC-1

Author: stephane-caron

CHANGELOG.md

@@ -6,9 +6,10 @@ All notable changes to this project will be documented in this file.
 
 ### New robot descriptions
 
-This release adds 1 robot description:
+This release adds 2 robot descriptions:
 
 - Aliengo MJCF
+- JVRC-1 MJCF
 
 ### Added
 

README.md

@@ -67,8 +67,8 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Name                  | Maker              | Submodule                     |
 |-----------------------|--------------------| ------------------------------|
 | A1                    | UNITREE Robotics   | `a1_description`              |
-| Aliengo               | UNITREE Robotics   | `aliengo_description`         |
 | Aliengo (MJCF)        | UNITREE Robotics   | `aliengo_mj_description`      |
+| Aliengo (URDF)        | UNITREE Robotics   | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics     | `allegro_hand_description`    |
 | ANYmal B              | ANYbotics          | `anymal_b_description`        |
 | ANYmal C              | ANYbotics          | `anymal_c_description`        |
@@ -84,7 +84,8 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | HyQ                   | IIT                | `hyq_description`             |
 | iCub                  | IIT                | `icub_description`            |
 | iiwa                  | KUKA               | `iiwa_description`            |
-| JVRC-1                | AIST               | `jvrc_description`            |
+| JVRC-1 (MJCF)         | AIST               | `jvrc_mj_description`         |
+| JVRC-1 (URDF)         | AIST               | `jvrc_description`            |
 | Laikago               | UNITREE Robotics   | `laikago_description`         |
 | Mini Cheetah          | MIT                | `mini_cheetah_description`    |
 | Minitaur              | Ghost Robotics     | `minitaur_description`        |

robot_descriptions/_description_names.py

@@ -41,6 +41,7 @@
     "icub_description",
     "iiwa_description",
     "jvrc_description",
+    "jvrc_mj_description",
     "laikago_description",
     "mini_cheetah_description",
     "minitaur_description",

robot_descriptions/_repositories.py

@@ -100,6 +100,11 @@ class Repository:
         commit="v1.1.0",
         cache_path="stephane-caron/jvrc_description",
     ),
+    "jvrc_mj_description": Repository(
+        url="https://github.com/isri-aist/jvrc_mj_description.git",
+        commit="0f0ce7daefdd66c54e0909a6bf2c22154844f5f3",
+        cache_path="isri-aist/jvrc_mj_description",
+    ),
     "mini_cheetah_urdf": Repository(
         url="https://github.com/Derek-TH-Wang/mini_cheetah_urdf.git",
         commit="1988bceb26e81f28594a16e7d5e6abe5cbb27ace",

robot_descriptions/jvrc_mj_description.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+JVRC-1 MJCF description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("jvrc_mj_description")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "jvrc1.xml")