Merge remote-tracking branch 'upstream/main'

Author: uynitsuj

.github/ISSUE_TEMPLATE/feature_request.md

@@ -2,16 +2,21 @@
 name: 💡 Feature request
 about: Suggest an idea to improve Upkie
 title: ''
-labels: ''
+labels: 'enhancement'
 assignees: ''
 
 ---
 
-⚠️ **Please open a discussion in the [Ideas](https://github.com/robot-descriptions/robot_descriptions.py/discussions/categories/ideas) forum rather than an issue.**
+# Current limitation
 
-Make sure your proposal checks out the following questions:
+Please describe the problem that the proposed feature would address. For instance: "I'm always frustrated when..."
 
-- [ ] Is your feature request related to a problem? Please describe, *e.g.* "I'm always frustrated when..."
-- [ ] Describe (concisely) the solution you'd like.
-- [ ] Describe alternatives you've considered.
-- [ ] Do you have screenshots or sketches to illustrate your proposal?
+# Proposed solution
+
+Describe (as concisely as possible) the solution you'd like.
+
+Do you have screenshots or sketches to illustrate it?
+
+# Additional context
+
+Describe any additional context, alternatives you can think of, ...

CHANGELOG.md

@@ -4,13 +4,42 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+## [1.19.0] - 2025-07-03
+
+### Added
+
+- CLI: Add `pull` command to `robot_description` and cache it (thanks to @haixuantao)
+- Description: BamBot (URDF)
+- Description: Booster T1 (MJCF)
+- Description: Booster T1 (URDF)
+- Description: Fourier GR-1 (URDF)
+- Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
+- Description: SO ARM 101 (URDF) (thanks to @haixuantao)
+- Description: WL P311D (URDF)
+- Description: WL P311E (URDF)
+
+### Changed
+
+- Rename `leap_hand_v1` to `leap_hand_v1_description`
+- Rename `so_arm100` to `so_arm100_description`
+
+## [1.18.0] - 2025-06-19
+
 ### Added
 
 - Description: Dynamixel 2R (MJCF)
+- Description: Fourier N1 (MJCF)
+- Description: Fourier N1 (URDF)
+- Description: RSK omnidirectional robot (MJCF)
 - Description: YAM (MJCF) (thanks to @kevinzakka)
 - Description YAM (URDF)
 - Description RBY1 Mobile Manipulatior (URDF)
 
+### Changed
+
+- Update `piper_mj_description` to load `piper.xml` instead of `scene.xml` (thanks to @jonzamora)
+- Allow passing `kwargs` to `yourdfpy.load_robot_description` (thanks to @sea-bass)
+
 ## [1.17.0] - 2025-05-08
 
 ### Added
@@ -468,7 +497,9 @@ This initial release includes 33 robot descriptions:
 - Contributing instructions
 - This changelog
 
-[unreleased]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.17.0...HEAD
+[unreleased]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.19.0...HEAD
+[1.19.0]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.18.0...v1.19.0
+[1.18.0]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.17.0...v1.18.0
 [1.17.0]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.16.0...v1.17.0
 [1.16.0]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.15.0...v1.16.0
 [1.15.0]: https://github.com/robot-descriptions/robot_descriptions.py/compare/v1.14.0...v1.15.0

CITATION.cff

@@ -1,7 +1,7 @@
 cff-version: 1.2.0
 message: "If you find this code helpful, please cite it as below."
 title: "robot_descriptions.py: Robot descriptions in Python"
-version: 1.17.0
+version: 1.19.0
 date-released: 2025-05-08
 url: "https://github.com/robot-descriptions/robot_descriptions.py"
 license: "Apache-2.0"
@@ -32,3 +32,8 @@ authors:
 - family-names: "Traversaro"
   given-names: "Silvio"
   orcid: "https://orcid.org/0000-0002-9283-6133"
+- family-names: "Castro"
+  given-names: "Sebastian"
+  orcid: "https://orcid.org/0000-0001-5754-9959"
+- family-names: "Tao"
+  given-names: "Haixuan Xavier"

README.md

@@ -15,16 +15,12 @@ Importing a description for the first time automatically downloads and caches fi
 
 ### From conda-forge
 
-[![Conda Version](https://img.shields.io/conda/vn/conda-forge/robot_descriptions.svg)](https://anaconda.org/conda-forge/robot_descriptions)
-
 ```console
 conda install -c conda-forge robot_descriptions
 ```
 
 ### From PyPI
 
-[![PyPI version](https://img.shields.io/pypi/v/robot_descriptions)](https://pypi.org/project/robot_descriptions/)
-
 ```console
 pip install robot_descriptions
 ```
@@ -153,8 +149,10 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `piper_mj_description`        | PiPER                 | AgileX                   | MJCF       | MIT          |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | URDF       | GPL-3.0      |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | MJCF       | Apache-2.0   |
-| `so_arm100`                   | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
+| `so_arm100_description`       | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
 | `so_arm100_mj_description`    | SO-ARM100             | The Robot Studio         | MJCF       | Apache-2.0   |
+| `so_arm101_description`       | SO-ARM101             | The Robot Studio         | URDF       | Apache-2.0   |
+| `so_arm101_mj_description`    | SO-ARM101             | The Robot Studio         | MJCF       | Apache-2.0   |
 | `ur10_description`            | UR10                  | Universal Robots         | URDF       | Apache-2.0   |
 | `ur10e_mj_description`        | UR10e                 | Universal Robots         | MJCF       | BSD-3-Clause |
 | `ur3_description`             | UR3                   | Universal Robots         | URDF       | Apache-2.0   |
@@ -217,7 +215,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `allegro_hand_description`       | Allegro Hand          | Wonik Robotics             | URDF       | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT)     |
 | `allegro_hand_mj_description`    | Allegro Hand          | Wonik Robotics             | MJCF       | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
 | `barrett_hand_description`       | BarrettHand           | Barrett Technology         | URDF       | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |
-| `leap_hand_v1`                   | LEAP Hand v1          | Carnegie Mellon University | URDF       | MIT |
+| `leap_hand_v1_description`       | LEAP Hand v1          | Carnegie Mellon University | URDF       | MIT |
 | `leap_hand_mj_description`       | LEAP Hand             | Carnegie Mellon University | MJCF       | MIT |
 | `robotiq_2f85_description`       | Robotiq 2F-85         | Robotiq                    | URDF       | BSD-2-Clause |
 | `robotiq_2f85_mj_description`    | Robotiq 2F-85         | Robotiq                    | MJCF       | BSD-2-Clause |
@@ -234,18 +232,23 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `atlas_drc_description`         | Atlas DRC (v3)        | Boston Dynamics          | URDF       | BSD-3-Clause |
 | `atlas_v4_description`          | Atlas v4              | Boston Dynamics          | URDF       | MIT |
 | `berkeley_humanoid_description` | Berkeley Humanoid     | Hybrid Robotics          | URDF       | BSD-3-Clause |
+| `booster_t1_description`        | Booster T1            | Booster Robotics         | URDF       | [Apache-2.0](https://github.com/BoosterRobotics/booster_gym/blob/687a33d08b08875fe45dc8d91b54db83766df8b9/LICENSE) |
+| `booster_t1_mj_description`     | Booster T1            | Booster Robotics         | MJCF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/66384c6b8581c811a7b1eb63bcf4fa944fa43602/booster_t1/LICENSE) |
 | `draco3_description`            | Draco3                | Apptronik                | URDF       | BSD-2-Clause |
 | `elf2_description`              | Elf2                  | BXI Robotics             | URDF       | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |
 | `elf2_mj_description`           | Elf2                  | BXI Robotics             | MJCF       | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |
 | `ergocub_description`           | ergoCub               | IIT                      | URDF       | BSD-3-Clause |
 | `g1_description`                | G1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `g1_mj_description`             | G1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
+| `gr1_description`               | GR-1                  | Fourier                  | URDF       | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/351245ac8fa4bf6f4b0c41556e1e6976a438bcef/LICENSE) |
 | `h1_description`                | H1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `h1_mj_description`             | H1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 | `icub_description`              | iCub                  | IIT                      | URDF       | CC-BY-SA-4.0 ✖️  |
 | `jaxon_description`             | JAXON                 | JSK                      | URDF       | CC-BY-SA-4.0 ✖️  |
 | `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 |
@@ -256,18 +259,19 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 ### Mobile manipulators
 
-| Name                          | Robot                 | Maker                    | DOF | Format     |
-|-------------------------------|-----------------------|--------------------------|-----|------------|
-| `eve_r3_description`          | Eve R3                | Halodi                   | 23  | URDF       |
-| `fetch_description`           | Fetch                 | Fetch Robotics           | 14  | URDF       |
-| `ginger_description`          | Ginger                | Paaila Technology        | 49  | URDF       |
-| `pepper_description`          | Pepper                | SoftBank Robotics        | 17  | URDF       |
-| `pr2_description`             | PR2                   | Willow Garage            | 32  | URDF       |
-| `reachy_description`          | Reachy                | Pollen Robotics          | 21  | URDF       |
-| `stretch_description`         | Stretch RE1           | Hello Robot              | 14  | URDF       |
-| `sretch_mj_description`       | Stretch 2             | Hello Robot              | 14  | MJCF       |
-| `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | 14  | MJCF       |
-| `tiago_description`           | TIAGo                 | PAL Robotics             | 48  | URDF       |
+| Name                          | Robot                 | Maker                    | Format     | License |
+|-------------------------------|-----------------------|--------------------------|------------|---------|
+| `bambot_description`          | BamBot                | Tim Qian                 | URDF       | [Apache-2.0](https://github.com/timqian/bambot/blob/04d902653794f9f72eeabb09ec90a9af8e397c5b/LICENSE) |
+| `eve_r3_description`          | Eve R3                | Halodi                   | URDF       | Apache-2.0 |
+| `fetch_description`           | Fetch                 | Fetch Robotics           | URDF       | MIT |
+| `ginger_description`          | Ginger                | Paaila Technology        | URDF       | BSD |
+| `pepper_description`          | Pepper                | SoftBank Robotics        | URDF       | BSD-2-Clause |
+| `pr2_description`             | PR2                   | Willow Garage            | URDF       | BSD |
+| `reachy_description`          | Reachy                | Pollen Robotics          | URDF       | Apache-2.0 |
+| `stretch_description`         | Stretch RE1           | Hello Robot              | URDF       | CC-BY-SA-4.0 ✖️  |
+| `sretch_mj_description`       | Stretch 2             | Hello Robot              | MJCF       | Clear BSD |
+| `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | MJCF       | Apache-2.0 |
+| `tiago_description`           | TIAGo                 | PAL Robotics             | URDF       | Apache-2.0 |
 | `rby1_description`            | RBY1                  | Rainbow Robotics         | 24  | URDF       |
 
 
@@ -302,7 +306,10 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                          | Robot                 | Maker                    | Format     | License |
 |-------------------------------|-----------------------|--------------------------|------------|---------|
 | `rsk_description`             | RSK Omnidirectional   | Robot Soccer Kit         | URDF       | MIT     |
+| `rsk_mj_description`          | RSK Omnidirectional   | Robot Soccer Kit         | MJCF       | MIT     |
 | `upkie_description`           | Upkie                 | Stéphane Caron           | URDF       | Apache-2.0 |
+| `wl_p311d_description`        | WL P311D              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
+| `wl_p311e_description`        | WL P311E              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
 
 ## Contributing
 
@@ -319,10 +326,10 @@ If you use this project in your works, please cite as follows:
 ```bibtex
 @software{robot_descriptions_py,
   title = {{robot_descriptions.py: Robot descriptions in Python}},
-  author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordoñez Apraez, Daniel Felipe and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin and Schramm, Fabian and Uru\c{c}, Jafar and Traversaro, Silvio},
+  author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordoñez Apraez, Daniel Felipe and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin and Schramm, Fabian and Uru\c{c}, Jafar and Traversaro, Silvio and Castro, Sebastian and Tao, Haixuan Xavier},
   license = {Apache-2.0},
   url = {https://github.com/robot-descriptions/robot_descriptions.py},
-  version = {1.17.0},
+  version = {1.19.0},
   year = {2025}
 }
 ```

robot_descriptions/__init__.py

@@ -8,6 +8,6 @@
 
 from ._descriptions import DESCRIPTIONS
 
-__version__ = "1.17.0"
+__version__ = "1.19.0"
 
 __all__ = ["DESCRIPTIONS"]

robot_descriptions/__main__.py

@@ -48,6 +48,16 @@ def get_argument_parser() -> argparse.ArgumentParser:
         help="list all available robot descriptions",
     )
 
+    # pull ----------------------------------------------------------------
+    parser_pull = subparsers.add_parser(
+        "pull",
+        help="load given robot description from the web and save it in cache",
+    )
+    parser_pull.add_argument(
+        "name",
+        help="name of the robot description",
+    )
+
     # show_in_meshcat --------------------------------------------------------
     parser_meshcat = subparsers.add_parser(
         "show_in_meshcat",
@@ -126,6 +136,22 @@ def list_descriptions():
         print(f"- {name} [{formats}]")
 
 
+def pull(name: str) -> None:
+    """Pull a robot description from the web and save it in cache.
+
+    Args:
+        name: Name of the robot description.
+    """
+    try:
+        module = import_module(f"robot_descriptions.{name}")
+    except ModuleNotFoundError:
+        module = import_module(f"robot_descriptions.{name}_description")
+    if hasattr(module, "URDF_PATH"):
+        print(module.URDF_PATH)
+    elif hasattr(module, "MJCF_PATH"):
+        print(module.MJCF_PATH)
+
+
 def show_in_meshcat(name: str) -> None:
     """Show a robot description in MeshCat.
 
@@ -283,6 +309,8 @@ def main(argv=None):
     args = parser.parse_args(argv)
     if args.subcmd == "list":
         list_descriptions()
+    elif args.subcmd == "pull":
+        pull(args.name)
     elif args.subcmd == "show_in_meshcat":
         show_in_meshcat(args.name)
     elif args.subcmd == "show_in_mujoco":