Add Dynamixel 2R MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: Dynamixel 2R (MJCF)
+
 ## [1.17.0] - 2025-05-08
 
 ### Added

README.md

@@ -201,6 +201,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                          | Robot                 | DOF | Format     |
 |-------------------------------|-----------------------|-----|------------|
 | `double_pendulum_description` | Double Pendulum       | 2   | URDF       |
+| `dynamixel_2r`                | Dynamixel 2R          | 1   | MJCF       |
 | `finger_edu_description`      | FingerEdu             | 3   | URDF       |
 | `simple_humanoid_description` | Simple Humanoid       | 29  | URDF       |
 | `trifinger_edu_description`   | TriFingerEdu          | 9   | URDF       |

robot_descriptions/_descriptions.py

@@ -95,6 +95,7 @@ def has_urdf(self) -> bool:
     "double_pendulum_description": Description(
         Format.URDF, tags={"educational"}
     ),
+    "dynamixel_2r": Description(Format.MJCF, tags={"educational"}),
     "draco3_description": Description(Format.URDF, tags={"humanoid"}),
     "edo_description": Description(Format.URDF, tags={"arm"}),
     "elf2_description": Description(Format.URDF, tags={"humanoid"}),

robot_descriptions/dynamixel_2r_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Dynamixel 2R 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, "dynamixel_2r")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "dynamixel_2r.xml")