Merge branch 'main' into kinova

Author: stephane-caron

CHANGELOG.md

@@ -14,6 +14,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka)
 - Description: KUKA iiwa 7 (URDF)
 - Description: Unitree G1 (MJCF) (thanks to @kevinzakka)
 - Description: Unitree G1 (URDF) (thanks to @lvjonok)

README.md

@@ -202,6 +202,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `barrett_hand_description`    | BarrettHand           | Barrett Technology       | 8   | URDF       |
 | `robotiq_2f85_description`    | Robotiq 2F-85         | Robotiq                  | 1   | URDF       |
 | `robotiq_2f85_mj_description` | Robotiq 2F-85         | Robotiq                  | 1   | MJCF       |
+| `shadow_dexee_mj_description` | Shadow DEX-EE         | The Shadow Robot Company | 12  | MJCF       |
 | `shadow_hand_mj_description`  | Shadow Hand           | The Shadow Robot Company | 24  | MJCF       |
 
 ### Humanoids

robot_descriptions/shadow_dexee_mj_description.py

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