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stephane-caronstephane-caron
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Merge pull request #161 from robot-descriptions/add/bambot
Add BamBot URDF description
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‎CHANGELOG.md‎

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@@ -6,8 +6,15 @@ All notable changes to this project will be documented in this file.
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### Added
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- Description: SO ARM 101 (URDF/MJCF) (thanks to @haixuantao)
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- Add `pull` in the CLI to pull `robot_description` and cache it. (thanks to @haixuantao)
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- CLI: Add `pull` command to `robot_description` and cache it (thanks to @haixuantao)
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- Description: BamBot (URDF)
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- Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
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- Description: SO ARM 101 (URDF) (thanks to @haixuantao)
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### Changed
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- Rename `leap_hand_v1` to `leap_hand_v1_description`
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- Rename `so_arm100` to `so_arm100_description`
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## [1.18.0] - 2025-06-19
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‎README.md‎

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@@ -149,7 +149,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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| `piper_mj_description` | PiPER | AgileX | MJCF | MIT |
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| `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | URDF | GPL-3.0 |
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| `sawyer_mj_description` | Sawyer | Rethink Robotics | MJCF | Apache-2.0 |
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| `so_arm100` | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 |
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| `so_arm100_description` | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 |
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| `so_arm100_mj_description` | SO-ARM100 | The Robot Studio | MJCF | Apache-2.0 |
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| `so_arm101_description` | SO-ARM101 | The Robot Studio | URDF | Apache-2.0 |
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| `so_arm101_mj_description` | SO-ARM101 | The Robot Studio | MJCF | Apache-2.0 |
@@ -214,7 +214,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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| `allegro_hand_description` | Allegro Hand | Wonik Robotics | URDF | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT) |
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| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | MJCF | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
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| `barrett_hand_description` | BarrettHand | Barrett Technology | URDF | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |
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| `leap_hand_v1` | LEAP Hand v1 | Carnegie Mellon University | URDF | MIT |
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| `leap_hand_v1_description` | LEAP Hand v1 | Carnegie Mellon University | URDF | MIT |
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| `leap_hand_mj_description` | LEAP Hand | Carnegie Mellon University | MJCF | MIT |
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| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | URDF | BSD-2-Clause |
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| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | MJCF | BSD-2-Clause |
@@ -255,18 +255,19 @@ The DOF column denotes the number of actuated degrees of freedom.
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### Mobile manipulators
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| Name | Robot | Maker | DOF | Format |
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|-------------------------------|-----------------------|--------------------------|-----|------------|
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| `eve_r3_description` | Eve R3 | Halodi | 23 | URDF |
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| `fetch_description` | Fetch | Fetch Robotics | 14 | URDF |
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| `ginger_description` | Ginger | Paaila Technology | 49 | URDF |
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| `pepper_description` | Pepper | SoftBank Robotics | 17 | URDF |
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| `pr2_description` | PR2 | Willow Garage | 32 | URDF |
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| `reachy_description` | Reachy | Pollen Robotics | 21 | URDF |
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| `stretch_description` | Stretch RE1 | Hello Robot | 14 | URDF |
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| `sretch_mj_description` | Stretch 2 | Hello Robot | 14 | MJCF |
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| `sretch_3_mj_description` | Stretch 3 | Hello Robot | 14 | MJCF |
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| `tiago_description` | TIAGo | PAL Robotics | 48 | URDF |
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| Name | Robot | Maker | Format | License |
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|-------------------------------|-----------------------|--------------------------|------------|---------|
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| `bambot_description` | BamBot | Tim Qian | URDF | [Apache-2.0](https://github.com/timqian/bambot/blob/04d902653794f9f72eeabb09ec90a9af8e397c5b/LICENSE) |
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| `eve_r3_description` | Eve R3 | Halodi | URDF | Apache-2.0 |
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| `fetch_description` | Fetch | Fetch Robotics | URDF | MIT |
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| `ginger_description` | Ginger | Paaila Technology | URDF | BSD |
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| `pepper_description` | Pepper | SoftBank Robotics | URDF | BSD-2-Clause |
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| `pr2_description` | PR2 | Willow Garage | URDF | BSD |
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| `reachy_description` | Reachy | Pollen Robotics | URDF | Apache-2.0 |
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| `stretch_description` | Stretch RE1 | Hello Robot | URDF | CC-BY-SA-4.0 ✖️ |
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| `sretch_mj_description` | Stretch 2 | Hello Robot | MJCF | Clear BSD |
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| `sretch_3_mj_description` | Stretch 3 | Hello Robot | MJCF | Apache-2.0 |
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| `tiago_description` | TIAGo | PAL Robotics | URDF | Apache-2.0 |
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### Quadrupeds
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‎robot_descriptions/_descriptions.py‎

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@@ -80,6 +80,9 @@ def has_urdf(self) -> bool:
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"atlas_v4_description": Description(Format.URDF, tags={"humanoid"}),
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"b1_description": Description(Format.URDF, tags={"quadruped"}),
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"b2_description": Description(Format.URDF, tags={"quadruped"}),
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"bambot_description": Description(
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Format.URDF, tags={"mobile_manipulator"}
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),
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"barrett_hand_description": Description(
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Format.URDF, tags={"end_effector"}
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),
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"jvrc_description": Description(Format.URDF, tags={"humanoid"}),
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"jvrc_mj_description": Description(Format.MJCF, tags={"humanoid"}),
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"laikago_description": Description(Format.URDF, tags={"quadruped"}),
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"leap_hand_v1": Description(Format.URDF, tags={"end_effector"}),
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"leap_hand_v1_description": Description(
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Format.URDF, tags={"end_effector"}
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),
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"leap_hand_mj_description": Description(
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Format.MJCF, tags={"end_effector"}
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),
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),
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"skydio_x2_description": Description(Format.URDF, tags={"drone"}),
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"skydio_x2_mj_description": Description(Format.MJCF, tags={"drone"}),
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"so_arm100": Description(Format.URDF, tags={"arm"}),
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"so_arm100_description": Description(Format.URDF, tags={"arm"}),
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"so_arm100_mj_description": Description(Format.MJCF, tags={"arm"}),
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"so_arm101_description": Description(Format.URDF, tags={"arm"}),
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"so_arm101_mj_description": Description(Format.MJCF, tags={"arm"}),
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"solo_description": Description(Format.URDF, tags={"quadruped"}),
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"spot_mj_description": Description(Format.MJCF, tags={"quadruped"}),
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"spryped_description": Description(Format.URDF, tags={"biped"}),

‎robot_descriptions/_repositories.py‎

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@@ -46,6 +46,11 @@ class Repository:
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commit="6adc14720aab583613975e5a9d6d4fa3cfcdd081",
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cache_path="anymal_d_simple_description",
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),
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"bambot": Repository(
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url="https://github.com/timqian/bambot.git",
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commit="04d902653794f9f72eeabb09ec90a9af8e397c5b",
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cache_path="bambot",
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),
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"baxter_common": Repository(
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url="https://github.com/RethinkRobotics/baxter_common.git",
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commit="6c4b0f375fe4e356a3b12df26ef7c0d5e58df86e", # v1.2.0

‎robot_descriptions/bambot_description.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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# Copyright 2025 Inria
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"""BamBot description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"bambot",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "website", "public", "URDF")
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URDF_PATH: str = _path.join(PACKAGE_PATH, "bambot_v0.urdf")

‎robot_descriptions/leap_hand_v1.py‎ renamed to ‎robot_descriptions/leap_hand_v1_description.py‎

File renamed without changes.

‎robot_descriptions/so_arm100.py‎ renamed to ‎robot_descriptions/so_arm100_description.py‎

File renamed without changes.

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