Merge branch 'robot-descriptions:main' into main

Author: jonzamora

CHANGELOG.md

@@ -14,6 +14,10 @@ All notable changes to this project will be documented in this file.
 - CICD: Disable fail-fast when testing loaders
 - Update `g1_mj_description` to load `g1_with_hands.xml` instead of `g1.xml`
 
+### Fixed
+
+- Update commit and URDF path of YAM description
+
 ## [1.20.0] - 2025-07-15
 
 ### Added

README.md

@@ -163,7 +163,6 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `xarm7_mj_description`        | xArm7                 | UFACTORY                 | MJCF       | BSD-3-Clause |
 | `yam_description`             | YAM                   | I2RT Robotics            | URDF       | MIT          |
 | `yam_mj_description`          | YAM                   | I2RT Robotics            | MJCF       | MIT          |
-| `yam_description`             | YAM                   | I2RT Robotics            | URDF       | MIT          |
 | `z1_description`              | Z1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `z1_mj_description`           | Z1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 

robot_descriptions/_repositories.py

@@ -152,7 +152,7 @@ class Repository:
     ),
     "i2rt": Repository(
         url="https://github.com/i2rt-robotics/i2rt.git",
-        commit="8a8f804d72b41a04a5c69520031aec9a5d328104",
+        commit="7809b5b17227162d265f922e2e10598c0e214322",
         cache_path="i2rt",
     ),
     "icub-models": Repository(

robot_descriptions/yam_description.py

@@ -16,6 +16,6 @@
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robot_models/yam/assets")
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "i2rt", "robot_models", "yam")
 
-URDF_PATH: str = _path.join(REPOSITORY_PATH, "robot_models/yam/yam.urdf")
+URDF_PATH: str = _path.join(PACKAGE_PATH, "yam.urdf")