Merge pull request #154 from jonzamora/main

Update Piper MJCF path and Update MuJoCo Menagerie Commit Hash

Author: stephane-caron

CHANGELOG.md

@@ -10,6 +10,10 @@ All notable changes to this project will be documented in this file.
 - Description: Fourier N1 (URDF)
 - Description: YAM (MJCF) (thanks to @kevinzakka)
 
+### Changed
+
+- Update `piper_mj_description` to load `piper.xml` instead of `scene.xml`
+
 ## [1.17.0] - 2025-05-08
 
 ### Added

robot_descriptions/_repositories.py

@@ -177,7 +177,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="4a7015530bd7a4161103ae8f0905a96481e4cc1a",
+        commit="f3475402a11acf5ba767a8bec03cc9bea9819d8d",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/piper_mj_description.py

@@ -18,4 +18,4 @@
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "agilex_piper")
 
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "scene.xml")
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "piper.xml")