Merge branch 'uynitsuj-main'

Author: stephane-caron

CHANGELOG.md

@@ -3,6 +3,8 @@
 All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
+- Description YAM (URDF)
+- Description RBY1 Mobile Manipulatior (URDF)
 
 ## [1.19.0] - 2025-07-03
 
@@ -18,6 +20,7 @@ All notable changes to this project will be documented in this file.
 - Description: WL P311D (URDF)
 - Description: WL P311E (URDF)
 
+
 ### Changed
 
 - Rename `leap_hand_v1` to `leap_hand_v1_description`

CITATION.cff

@@ -37,3 +37,5 @@ authors:
   orcid: "https://orcid.org/0000-0001-5754-9959"
 - family-names: "Tao"
   given-names: "Haixuan Xavier"
+- family-names: "Yu"
+  given-names: "Justin"

README.md

@@ -162,6 +162,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `widow_mj_description`        | WidowX                | Trossen Robotics         | MJCF       | BSD-3-Clause |
 | `xarm7_mj_description`        | xArm7                 | UFACTORY                 | MJCF       | BSD-3-Clause |
 | `yam_mj_description`          | YAM                   | I2RT Robotics            | MJCF       | MIT          |
+| `yam_description`             | YAM                   | I2RT Robotics            | URDF       | MIT          |
 | `z1_description`              | Z1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `z1_mj_description`           | Z1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 
@@ -266,6 +267,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ginger_description`          | Ginger                | Paaila Technology        | URDF       | BSD |
 | `pepper_description`          | Pepper                | SoftBank Robotics        | URDF       | BSD-2-Clause |
 | `pr2_description`             | PR2                   | Willow Garage            | URDF       | BSD |
+| `rby1_description`            | RBY1                  | Rainbow Robotics         | URDF       | [MIT](https://github.com/uynitsuj/rby1_description/blob/e4c07203aa0a0d1b6b3b39da105cb00a77e2bc72/LICENSE) |
 | `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 |

robot_descriptions/_descriptions.py

@@ -232,6 +232,8 @@ def has_urdf(self) -> bool:
     "wl_p311e_description": Description(Format.URDF, tags={"quadruped"}),
     "xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yam_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "yam_description": Description(Format.URDF, tags={"arm"}),
+    "rby1_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),
     "z1_description": Description(Format.URDF, tags={"arm"}),
     "z1_mj_description": Description(Format.MJCF, tags={"arm"}),

robot_descriptions/_repositories.py

@@ -150,6 +150,11 @@ class Repository:
         commit="ba9e7c8cdbd63e20fc6526dbbea1b91c102fb820",
         cache_path="halodi-robot-models",
     ),
+    "i2rt": Repository(
+        url="https://github.com/i2rt-robotics/i2rt.git",
+        commit="8a8f804d72b41a04a5c69520031aec9a5d328104",
+        cache_path="i2rt",
+    ),
     "icub-models": Repository(
         url="https://github.com/robotology/icub-models.git",
         commit="v1.25.0",
@@ -233,6 +238,11 @@ class Repository:
         commit="6beeec3d76fb72b7548cce7c73aad722f8884522",
         cache_path="poppy_torso_description",
     ),
+    "rby1_description": Repository(
+        url="https://github.com/uynitsuj/rby1_description.git",
+        commit="e4c07203aa0a0d1b6b3b39da105cb00a77e2bc72",
+        cache_path="rby1_description",
+    ),
     "reachy_description": Repository(
         url="https://github.com/aubrune/reachy_description.git",
         commit="release-1.0.0",

robot_descriptions/rby1_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""YAM URDF 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(
+    "rby1_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/urdf")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "model.urdf")

robot_descriptions/rby1_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""YAM URDF 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(
+    "rby1_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "models/rby1a/mujoco")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "model.xml")

robot_descriptions/yam_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""YAM URDF 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(
+    "i2rt",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robot_models/yam/assets")
+
+URDF_PATH: str = _path.join(REPOSITORY_PATH, "robot_models/yam/yam.urdf")