Add Fourier N1 description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Dynamixel 2R (MJCF)
+- Description: Fourier N1 (URDF)
 - Description: YAM (MJCF) (thanks to @kevinzakka)
 
 ## [1.17.0] - 2025-05-08

README.md

@@ -245,6 +245,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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       | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/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 |

robot_descriptions/_descriptions.py

@@ -143,6 +143,7 @@ def has_urdf(self) -> bool:
     ),
     "mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}),
     "minitaur_description": Description(Format.URDF, tags={"quadruped"}),
+    "n1_description": Description(Format.URDF, tags={"humanoid"}),
     "nextage_description": Description(Format.URDF, tags={"dual_arm"}),
     "op3_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "panda_description": Description(Format.URDF, tags={"arm"}),

robot_descriptions/_repositories.py

@@ -305,4 +305,9 @@ class Repository:
         commit="9a6a057a055babaf47119fac42c361fffc189128",
         cache_path="skydio_x2_description",
     ),
+    "Wiki-GRx-Models": Repository(
+        url="https://github.com/FFTAI/Wiki-GRx-Models.git",
+        commit="d5c0203712749282347c9b5d9d8f4949979f7bba",
+        cache_path="Wiki-GRx-Models",
+    ),
 }

robot_descriptions/n1_description.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""Fourier N1 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(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "N1")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "N1_raw.urdf")