Add YAM arm from Menagerie.

Author: kevinzakka

CHANGELOG.md

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

README.md

@@ -118,16 +118,28 @@ Visualizing a robot description:
 
 Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
 
-- [Arms](#arms)
-- [Bipeds](#bipeds)
-- [Dual arms](#dual-arms)
-- [Drones](#drones)
-- [Educational](#educational)
-- [End effectors](#end-effectors)
-- [Humanoids](#humanoids)
-- [Mobile manipulators](#mobile-manipulators)
-- [Quadrupeds](#quadrupeds)
-- [Wheeled](#wheeled)
+- [Installation](#installation)
+  - [From conda-forge](#from-conda-forge)
+  - [From PyPI](#from-pypi)
+- [Usage](#usage)
+  - [Show a description](#show-a-description)
+  - [Import as submodule](#import-as-submodule)
+- [Examples](#examples)
+- [Descriptions](#descriptions)
+  - [Arms](#arms)
+  - [Bipeds](#bipeds)
+  - [Dual arms](#dual-arms)
+  - [Drones](#drones)
+  - [Educational](#educational)
+  - [End effectors](#end-effectors)
+  - [Humanoids](#humanoids)
+  - [Mobile manipulators](#mobile-manipulators)
+  - [Quadrupeds](#quadrupeds)
+  - [Wheeled](#wheeled)
+- [Contributing](#contributing)
+- [Thanks](#thanks)
+- [Citation](#citation)
+- [See also](#see-also)
 
 The DOF column denotes the number of actuated degrees of freedom.
 
@@ -163,6 +175,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `viper_mj_description`        | ViperX                | Trossen Robotics         | MJCF       | BSD-3-Clause |
 | `widow_mj_description`        | WidowX                | Trossen Robotics         | MJCF       | BSD-3-Clause |
 | `xarm7_mj_description`        | xArm7                 | UFACTORY                 | MJCF       | BSD-3-Clause |
+| `yam_mj_description`          | YAM                   | I2RT Robotics            | MJCF       | MIT          |
 | `z1_description`              | Z1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `z1_mj_description`           | Z1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 

robot_descriptions/_descriptions.py

@@ -216,6 +216,7 @@ def has_urdf(self) -> bool:
     "viper_mj_description": Description(Format.MJCF, tags={"arm"}),
     "widow_mj_description": Description(Format.MJCF, tags={"arm"}),
     "xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "yam_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),
     "z1_description": Description(Format.URDF, tags={"arm"}),
     "z1_mj_description": Description(Format.MJCF, tags={"arm"}),

robot_descriptions/_repositories.py

@@ -177,7 +177,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="ef4d04fbb7451d30b39c2aff7e49df737bb46815",
+        commit="4a7015530bd7a4161103ae8f0905a96481e4cc1a",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(

robot_descriptions/yam_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""YAM 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, "i2rt_yam")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "yam.xml")