Add Fourier N1 MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Dynamixel 2R (MJCF)
+- Description: Fourier N1 (MJCF)
 - Description: Fourier N1 (URDF)
 - Description: YAM (MJCF) (thanks to @kevinzakka)
 

README.md

@@ -246,6 +246,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `jvrc_description`              | JVRC-1                | AIST                     | URDF       | BSD-2-Clause |
 | `jvrc_mj_description`           | JVRC-1                | AIST                     | MJCF       | BSD-2-Clause |
 | `n1_description`                | N1                    | Fourier                  | URDF       | [Apache-2.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) |
+| `n1_mj_description`             | N1                    | Fourier                  | MJCF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/f3475402a11acf5ba767a8bec03cc9bea9819d8d/fourier_n1/LICENSE) |
 | `op3_mj_description`            | OP3                   | ROBOTIS                  | MJCF       | Apache-2.0 |
 | `r2_description`                | Robonaut 2            | NASA JSC Robotics        | URDF       | NASA-1.3 |
 | `romeo_description`             | Romeo                 | Aldebaran Robotics       | URDF       | BSD-3-Clause |

robot_descriptions/_descriptions.py

@@ -144,6 +144,7 @@ def has_urdf(self) -> bool:
     "mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}),
     "minitaur_description": Description(Format.URDF, tags={"quadruped"}),
     "n1_description": Description(Format.URDF, tags={"humanoid"}),
+    "n1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "nextage_description": Description(Format.URDF, tags={"dual_arm"}),
     "op3_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "panda_description": Description(Format.URDF, tags={"arm"}),

robot_descriptions/n1_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Fourier N1 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, "fourier_n1")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "n1.xml")