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stephane-caronstephane-caron
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Add at least one tag to each description
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‎README.md

+2
Original file line numberDiff line numberDiff line change
@@ -161,6 +161,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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| `widow_mj_description` | WidowX | Trossen Robotics | MJCF | BSD-3-Clause |
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| `xarm7_mj_description` | xArm7 | UFACTORY | MJCF | BSD-3-Clause |
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| `z1_description` | Z1 | UNITREE Robotics | URDF | BSD-3-Clause |
164+
| `z1_mj_description` | Z1 | UNITREE Robotics | MJCF | BSD-3-Clause |
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### Bipeds
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@@ -292,6 +293,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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| Name | Robot | Maker | Format | License |
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|-------------------------------|-----------------------|--------------------------|------------|---------|
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| `rsk_description` | RSK Omnidirectional | Robot Soccer Kit | URDF | MIT |
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| `upkie_description` | Upkie | Stéphane Caron | URDF | Apache-2.0 |
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## Contributing
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‎robot_descriptions/_descriptions.py

+94-55
Original file line numberDiff line numberDiff line change
@@ -78,32 +78,41 @@ def has_urdf(self) -> bool:
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"atlas_v4_description": Description(Format.URDF, tags={"humanoid"}),
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"b1_description": Description(Format.URDF, tags={"quadruped"}),
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"b2_description": Description(Format.URDF, tags={"quadruped"}),
81-
"barrett_hand_description": Description(Format.URDF),
81+
"barrett_hand_description": Description(
82+
Format.URDF, tags={"end_effector"}
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),
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"baxter_description": Description(Format.URDF, tags={"dual_arm"}),
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"berkeley_humanoid_description": Description(
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Format.URDF, tags={"humanoid"}
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),
86-
"bolt_description": Description(Format.URDF),
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"cassie_description": Description(Format.URDF),
88-
"cassie_mj_description": Description(Format.MJCF),
89-
"cf2_description": Description(Format.URDF),
90-
"cf2_mj_description": Description(Format.MJCF),
91-
"double_pendulum_description": Description(Format.URDF),
88+
"bolt_description": Description(Format.URDF, tags={"biped"}),
89+
"cassie_description": Description(Format.URDF, tags={"biped"}),
90+
"cassie_mj_description": Description(Format.MJCF, tags={"biped"}),
91+
"cf2_description": Description(Format.URDF, tags={"drone"}),
92+
"cf2_mj_description": Description(Format.MJCF, tags={"drone"}),
93+
"double_pendulum_description": Description(
94+
Format.URDF, tags={"educational"}
95+
),
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"draco3_description": Description(Format.URDF, tags={"humanoid"}),
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"edo_description": Description(Format.URDF, tags={"arm"}),
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"elf2_description": Description(Format.URDF, tags={"humanoid"}),
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"elf2_mj_description": Description(Format.MJCF, tags={"humanoid"}),
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"ergocub_description": Description(Format.URDF, tags={"humanoid"}),
97-
"eve_r3_description": Description(Format.URDF),
101+
"eve_r3_description": Description(
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Format.URDF, tags={"mobile_manipulator"}
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),
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"fanuc_m710ic_description": Description(Format.URDF, tags={"arm"}),
99-
"fetch_description": Description(Format.URDF),
100-
"finger_edu_description": Description(Format.URDF),
105+
"fetch_description": Description(Format.URDF, tags={"mobile_manipulator"}),
106+
"finger_edu_description": Description(Format.URDF, tags={"educational"}),
107+
"fr3_mj_description": Description(Format.MJCF, tags={"arm"}),
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"g1_description": Description(Format.URDF, tags={"humanoid"}),
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"g1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
103-
"gen2_description": Description(Format.URDF),
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"gen3_description": Description(Format.URDF),
105-
"gen3_mj_description": Description(Format.MJCF),
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"ginger_description": Description(Format.URDF),
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"gen2_description": Description(Format.URDF, tags={"arm"}),
111+
"gen3_description": Description(Format.URDF, tags={"arm"}),
112+
"gen3_mj_description": Description(Format.MJCF, tags={"arm"}),
113+
"ginger_description": Description(
114+
Format.URDF, tags={"mobile_manipulator"}
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),
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"go1_description": Description(Format.URDF, tags={"quadruped"}),
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"go1_mj_description": Description(Format.MJCF, tags={"quadruped"}),
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"go2_description": Description(Format.URDF, tags={"quadruped"}),
@@ -112,63 +121,93 @@ def has_urdf(self) -> bool:
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"h1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
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"hyq_description": Description(Format.URDF, tags={"quadruped"}),
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"icub_description": Description(Format.URDF, tags={"humanoid"}),
115-
"iiwa7_description": Description(Format.URDF),
116-
"iiwa14_description": Description(Format.URDF),
117-
"iiwa14_mj_description": Description(Format.MJCF),
124+
"iiwa7_description": Description(Format.URDF, tags={"arm"}),
125+
"iiwa14_description": Description(Format.URDF, tags={"arm"}),
126+
"iiwa14_mj_description": Description(Format.MJCF, tags={"arm"}),
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"jaxon_description": Description(Format.URDF, tags={"humanoid"}),
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"jvrc_description": Description(Format.URDF, tags={"humanoid"}),
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"jvrc_mj_description": Description(Format.MJCF, tags={"humanoid"}),
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"laikago_description": Description(Format.URDF, tags={"quadruped"}),
122-
"leap_hand_v1": Description(Format.URDF),
123-
"leap_hand_mj_description": Description(Format.MJCF),
131+
"leap_hand_v1": Description(Format.URDF, tags={"end_effector"}),
132+
"leap_hand_mj_description": Description(
133+
Format.MJCF, tags={"end_effector"}
134+
),
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"mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}),
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"minitaur_description": Description(Format.URDF, tags={"quadruped"}),
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"nextage_description": Description(Format.URDF, tags={"dual_arm"}),
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"op3_mj_description": Description(Format.MJCF, tags={"humanoid"}),
128-
"panda_description": Description(Format.URDF),
129-
"panda_mj_description": Description(Format.MJCF),
130-
"pepper_description": Description(Format.URDF),
131-
"piper_description": Description(Format.URDF),
132-
"piper_mj_description": Description(Format.MJCF),
133-
"poppy_ergo_jr_description": Description(Format.URDF),
139+
"panda_description": Description(Format.URDF, tags={"arm"}),
140+
"panda_mj_description": Description(Format.MJCF, tags={"arm"}),
141+
"pepper_description": Description(
142+
Format.URDF, tags={"mobile_manipulator"}
143+
),
144+
"piper_description": Description(Format.URDF, tags={"arm"}),
145+
"piper_mj_description": Description(Format.MJCF, tags={"arm"}),
146+
"poppy_ergo_jr_description": Description(Format.URDF, tags={"arm"}),
134147
"poppy_torso_description": Description(Format.URDF, tags={"dual_arm"}),
135-
"pr2_description": Description(Format.URDF),
148+
"pr2_description": Description(
149+
Format.URDF, tags={"dual_arm", "mobile_manipulator"}
150+
),
136151
"r2_description": Description(Format.URDF, tags={"humanoid"}),
137-
"reachy_description": Description(Format.URDF),
138-
"rhea_description": Description(Format.URDF),
139-
"robotiq_2f85_description": Description(Format.URDF),
140-
"robotiq_2f85_mj_description": Description(Format.MJCF),
141-
"robotiq_2f85_v4_mj_description": Description(Format.MJCF),
152+
"reachy_description": Description(
153+
Format.URDF, tags={"mobile_manipulator"}
154+
),
155+
"rhea_description": Description(Format.URDF, tags={"biped"}),
156+
"robotiq_2f85_description": Description(
157+
Format.URDF, tags={"end_effector"}
158+
),
159+
"robotiq_2f85_mj_description": Description(
160+
Format.MJCF, tags={"end_effector"}
161+
),
162+
"robotiq_2f85_v4_mj_description": Description(
163+
Format.MJCF, tags={"end_effector"}
164+
),
142165
"romeo_description": Description(Format.URDF, tags={"humanoid"}),
143-
"rsk_description": Description(Format.URDF),
144-
"sawyer_mj_description": Description(Format.MJCF),
145-
"shadow_hand_mj_description": Description(Format.MJCF),
166+
"rsk_description": Description(Format.URDF, tags={"wheeled"}),
167+
"sawyer_mj_description": Description(Format.MJCF, tags={"arm"}),
168+
"shadow_dexee_mj_description": Description(
169+
Format.MJCF, tags={"end_effector"}
170+
),
171+
"shadow_hand_mj_description": Description(
172+
Format.MJCF, tags={"end_effector"}
173+
),
146174
"sigmaban_description": Description(Format.URDF, tags={"humanoid"}),
147-
"simple_humanoid_description": Description(Format.URDF, tags={"humanoid"}),
148-
"skydio_x2_description": Description(Format.URDF),
149-
"skydio_x2_mj_description": Description(Format.MJCF),
150-
"so_arm100": Description(Format.URDF),
151-
"so_arm100_mj_description": Description(Format.MJCF),
175+
"simple_humanoid_description": Description(
176+
Format.URDF, tags={"humanoid", "educational"}
177+
),
178+
"skydio_x2_description": Description(Format.URDF, tags={"drone"}),
179+
"skydio_x2_mj_description": Description(Format.MJCF, tags={"drone"}),
180+
"so_arm100": Description(Format.URDF, tags={"arm"}),
181+
"so_arm100_mj_description": Description(Format.MJCF, tags={"arm"}),
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"solo_description": Description(Format.URDF, tags={"quadruped"}),
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"spot_mj_description": Description(Format.MJCF, tags={"quadruped"}),
154-
"spryped_description": Description(Format.URDF),
155-
"stretch_description": Description(Format.URDF),
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"stretch_mj_description": Description(Format.MJCF),
184+
"spryped_description": Description(Format.URDF, tags={"biped"}),
185+
"stretch_description": Description(
186+
Format.URDF, tags={"mobile_manipulator"}
187+
),
188+
"stretch_mj_description": Description(
189+
Format.MJCF, tags={"mobile_manipulator"}
190+
),
191+
"stretch_3_mj_description": Description(
192+
Format.MJCF, tags={"mobile_manipulator"}
193+
),
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"talos_description": Description(Format.URDF, tags={"humanoid"}),
158195
"talos_mj_description": Description(Format.MJCF, tags={"humanoid"}),
159-
"tiago_description": Description(Format.URDF),
160-
"trifinger_edu_description": Description(Format.URDF),
161-
"upkie_description": Description(Format.URDF),
162-
"ur10_description": Description(Format.URDF),
163-
"ur10e_mj_description": Description(Format.MJCF),
164-
"ur3_description": Description(Format.URDF),
165-
"ur5_description": Description(Format.URDF),
166-
"ur5e_mj_description": Description(Format.MJCF),
196+
"tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
197+
"trifinger_edu_description": Description(
198+
Format.URDF, tags={"educational"}
199+
),
200+
"upkie_description": Description(Format.URDF, tags={"biped", "wheeled"}),
201+
"ur10_description": Description(Format.URDF, tags={"arm"}),
202+
"ur10e_mj_description": Description(Format.MJCF, tags={"arm"}),
203+
"ur3_description": Description(Format.URDF, tags={"arm"}),
204+
"ur5_description": Description(Format.URDF, tags={"arm"}),
205+
"ur5e_mj_description": Description(Format.MJCF, tags={"arm"}),
167206
"valkyrie_description": Description(Format.URDF, tags={"humanoid"}),
168-
"viper_mj_description": Description(Format.MJCF),
169-
"widow_mj_description": Description(Format.MJCF),
170-
"xarm7_mj_description": Description(Format.MJCF),
207+
"viper_mj_description": Description(Format.MJCF, tags={"arm"}),
208+
"widow_mj_description": Description(Format.MJCF, tags={"arm"}),
209+
"xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
171210
"yumi_description": Description(Format.URDF, tags={"dual_arm"}),
172-
"z1_description": Description(Format.URDF),
173-
"z1_mj_description": Description(Format.MJCF),
211+
"z1_description": Description(Format.URDF, tags={"arm"}),
212+
"z1_mj_description": Description(Format.MJCF, tags={"arm"}),
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}

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