update rby1 mjcf path

Author: uynitsuj

robot_descriptions/_repositories.py

@@ -312,7 +312,7 @@ class Repository:
     ),
     "rby1_description": Repository(
         url="https://github.com/uynitsuj/rby1_description.git",
-        commit="c84f9ed802f69306945b684aa7205599e4ede82a",
+        commit="d8e8fe5f92604ef56e11db7f9798973cf94767cb",
         cache_path="rby1_description",
     ),
 }

robot_descriptions/loaders/mujoco.py

@@ -40,6 +40,8 @@ def load_robot_description(
 
     def load_model_from_path(path):
         try:
+            import pdb; pdb.set_trace()
+
             return mujoco.MjModel.from_xml_path(path)
         except ValueError:
             print(f"{path} not found. Loading default robot model.")

robot_descriptions/rby1_description.py

@@ -16,6 +16,6 @@
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/urdf/meshes")
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a")
 
-URDF_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/urdf/model.urdf")
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf/model.urdf")

robot_descriptions/rby1_mj_description.py

@@ -16,6 +16,6 @@
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/mujoco/assets")
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a")
 
-MJCF_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/mujoco/rby1.xml")
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "mujoco/model.xml")