Add AgileX PiPER MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -6,7 +6,8 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Description: AgileX PiPER
+- Description: AgileX PiPER (MJCF)
+- Description: AgileX PiPER (URDF)
 - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
 
 ### Fixed

README.md

@@ -144,6 +144,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `panda_description`           | Panda                 | Franka Robotics          | URDF       | Apache-2.0   |
 | `panda_mj_description`        | Panda                 | Franka Robotics          | MJCF       | Apache-2.0   |
 | `piper_description`           | PiPER                 | AgileX                   | URDF       | MIT          |
+| `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   |

robot_descriptions/_descriptions.py

@@ -108,6 +108,7 @@ def has_urdf(self) -> bool:
     "panda_mj_description": Description(Format.MJCF),
     "pepper_description": Description(Format.URDF),
     "piper_description": Description(Format.URDF),
+    "piper_mj_description": Description(Format.MJCF),
     "poppy_ergo_jr_description": Description(Format.URDF),
     "poppy_torso_description": Description(Format.URDF),
     "pr2_description": Description(Format.URDF),

robot_descriptions/piper_mj_description.py

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