Merge branch 'lvjonok-feature/unitree_z1_mj'

robot_descriptions/_descriptions.py

@@ -120,4 +120,5 @@ def has_urdf(self) -> bool:
     "valkyrie_description": Description(Format.URDF),
     "yumi_description": Description(Format.URDF),
     "z1_description": Description(Format.URDF),
+    "z1_mj_description": Description(Format.MJCF),
 }

robot_descriptions/_repositories.py

@@ -144,7 +144,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="c067f5b1d427af4a476b41864c184a3af6983d77",
+        commit="a099b54b539416bff0db4d35fc2271c35c10f37a",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/z1_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+# SPDX-License-Identifier: Apache-2.0
+
+"""Z1 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, "unitree_z1")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "z1.xml")