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lines changed Original file line number Diff line number Diff line change @@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
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### Added
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- Description: Dynamixel 2R (MJCF)
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+ - Description: Fourier N1 (URDF)
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- Description: YAM (MJCF) (thanks to @kevinzakka )
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## [ 1.17.0] - 2025-05-08
Original file line number Diff line number Diff line change @@ -245,6 +245,7 @@ The DOF column denotes the number of actuated degrees of freedom.
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| ` jaxon_description ` | JAXON | JSK | URDF | CC-BY-SA-4.0 ✖️ |
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| ` jvrc_description ` | JVRC-1 | AIST | URDF | BSD-2-Clause |
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| ` jvrc_mj_description ` | JVRC-1 | AIST | MJCF | BSD-2-Clause |
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+ | ` n1_description ` | N1 | Fourier | URDF | [ GPL-3.0] ( https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE ) |
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| ` op3_mj_description ` | OP3 | ROBOTIS | MJCF | Apache-2.0 |
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| ` r2_description ` | Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 |
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| ` romeo_description ` | Romeo | Aldebaran Robotics | URDF | BSD-3-Clause |
Original file line number Diff line number Diff line change @@ -143,6 +143,7 @@ def has_urdf(self) -> bool:
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),
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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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+ "n1_description" : Description (Format .URDF , tags = {"humanoid" }),
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"nextage_description" : Description (Format .URDF , tags = {"dual_arm" }),
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"op3_mj_description" : Description (Format .MJCF , tags = {"humanoid" }),
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"panda_description" : Description (Format .URDF , tags = {"arm" }),
Original file line number Diff line number Diff line change @@ -305,4 +305,9 @@ class Repository:
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commit = "9a6a057a055babaf47119fac42c361fffc189128" ,
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cache_path = "skydio_x2_description" ,
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),
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+ "Wiki-GRx-Models" : Repository (
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+ url = "https://github.com/FFTAI/Wiki-GRx-Models.git" ,
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+ commit = "d5c0203712749282347c9b5d9d8f4949979f7bba" ,
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+ cache_path = "Wiki-GRx-Models" ,
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+ ),
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}
Original file line number Diff line number Diff line change
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+ #!/usr/bin/env python3
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+ # -*- coding: utf-8 -*-
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+
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+ """Fourier N1 description."""
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+
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+ from os import getenv as _getenv
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+ from os import path as _path
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+
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+ from ._cache import clone_to_cache as _clone_to_cache
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+
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+ REPOSITORY_PATH : str = _clone_to_cache (
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+ "unitree_ros" ,
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+ commit = _getenv ("ROBOT_DESCRIPTION_COMMIT" , None ),
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+ )
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+
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+ PACKAGE_PATH : str = _path .join (REPOSITORY_PATH , "robots" , "N1" )
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+
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+ URDF_PATH : str = _path .join (PACKAGE_PATH , "urdf" , "N1_raw.urdf" )
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