Adam Adam Lite MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Adam Lite (MJCF)
 - Description: ARX L5 (MJCF) (thanks to @jonzamora)
 - Description: Kinova Gen3 Lite (URDF)
 - Description: Low-cost robot arm (MJCF)

README.md

@@ -227,6 +227,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                            | Robot                 | Maker                    | Format     | License |
 |---------------------------------|-----------------------|--------------------------|------------|---------|
 | `apollo_mj_description`         | Apollo                | Apptronik                | MJCF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/bf04290ac7911fa7a39339c7e507792fd464c438/apptronik_apollo/LICENSE) |
+| `adam_lite_mj_description`      | Adam Lite             | PNDBotics                | MJCF       | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/4035f8e628b7e613d03ba7fdfc6fae3da2f30296/pndbotics_adam_lite/LICENSE) |
 | `atlas_drc_description`         | Atlas DRC (v3)        | Boston Dynamics          | URDF       | BSD-3-Clause |
 | `atlas_v4_description`          | Atlas v4              | Boston Dynamics          | URDF       | MIT |
 | `berkeley_humanoid_description` | Berkeley Humanoid     | Hybrid Robotics          | URDF       | BSD-3-Clause |

robot_descriptions/_descriptions.py

@@ -59,6 +59,7 @@ def has_urdf(self) -> bool:
     "ability_hand_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
+    "adam_lite_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "aliengo_description": Description(Format.URDF, tags={"quadruped"}),
     "aliengo_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "allegro_hand_description": Description(

robot_descriptions/adam_lite_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""Adam Lite 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, "pndbotics_adam_lite")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "adam_lite.xml")