Add Flexiv Rizon4 MJCF description

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Flexiv Rizon4 (MJCF)
 - Description: Flexiv Rizon4 (Xacro)
 - Description: Robotiq 2F-85 v4 (URDF) (thanks to @nickswalker)
 - Description: Franka descriptions added XACRO_ARGS_NO_HAND property (thanks to @nickswalker)

CONTRIBUTING.md

@@ -23,6 +23,7 @@ The goal of this project is to facilitate loading and sharing of robot descripti
 
 ```
 uv run --with yourdfpy --with "pyglet<2" python -m robot_descriptions show_in_yourdfpy <new_description>
+uv run --with mujoco-python-viewer python -m robot_descriptions show_in_mujoco <new_mj_description>
 ```
 
 6. **README:** Document the description's submodule name in the Descriptions section of the [README](README.md).

README.md

@@ -172,6 +172,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `piper_mj_description`        | PiPER                 | AgileX                   | MJCF       | MIT          |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | URDF       | GPL-3.0      |
 | `rizon4_description`          | Rizon4                | Flexiv Robotics          | Xacro      | Apache-2.0   |
+| `rizon4_mj_description`       | Rizon4                | Flexiv Robotics          | MJCF       | Apache-2.0   |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | MJCF       | Apache-2.0   |
 | `so_arm100_description`       | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
 | `so_arm100_mj_description`    | SO-ARM100             | The Robot Studio         | MJCF       | Apache-2.0   |

robot_descriptions/_descriptions.py

@@ -204,6 +204,7 @@ def has_urdf(self) -> bool:
     ),
     "rhea_description": Description(Format.URDF, tags={"biped"}),
     "rizon4_description": Description(Format.URDF, tags={"arm"}),
+    "rizon4_mj_description": Description(Format.MJCF, tags={"arm"}),
     "robotiq_2f85_description": Description(
         Format.URDF, tags={"end_effector"}
     ),

robot_descriptions/_repositories.py

@@ -225,7 +225,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="bf756430b615819654b640f321c71ba5c3ebeef8",
+        commit="feadf76d42f8a2162426f7d226a3b539556b3bf5",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/rizon4_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Flexiv Rizon4 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, "flexiv_rizon4")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "flexiv_rizon4.xml")