Merge pull request #157 from robot-descriptions/add/robot_soccer_kit

Add MJCF description for RSK omnidirectional robot

Author: stephane-caron

CHANGELOG.md

@@ -10,6 +10,7 @@ All notable changes to this project will be documented in this file.
 - Description: Fourier N1 (MJCF)
 - Description: Fourier N1 (URDF)
 - Description: YAM (MJCF) (thanks to @kevinzakka)
+- Description: RSK omnidirectional robot (MJCF)
 
 ### Changed
 

README.md

@@ -301,6 +301,7 @@ 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 |
 
 ## Contributing

robot_descriptions/_descriptions.py

@@ -175,6 +175,7 @@ def has_urdf(self) -> bool:
     ),
     "romeo_description": Description(Format.URDF, tags={"humanoid"}),
     "rsk_description": Description(Format.URDF, tags={"wheeled"}),
+    "rsk_mj_description": Description(Format.MJCF, tags={"wheeled"}),
     "sawyer_mj_description": Description(Format.MJCF, tags={"arm"}),
     "shadow_dexee_mj_description": Description(
         Format.MJCF, tags={"end_effector"}

robot_descriptions/_repositories.py

@@ -177,7 +177,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="f3475402a11acf5ba767a8bec03cc9bea9819d8d",
+        commit="66384c6b8581c811a7b1eb63bcf4fa944fa43602",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/rsk_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""RSK omnidirection robot 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, "robot_soccer_kit")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "robot_soccer_kit.xml")