diff --git a/LICENSE b/LICENSE index a92f6aeb..63fb2125 100644 --- a/LICENSE +++ b/LICENSE @@ -483,6 +483,214 @@ License for contents in the directory 'google_barkour_v0/' limitations under the License. +================================================================================ +License for contents in the directory 'google_meta/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + ================================================================================ License for contents in the directory 'hello_robot_stretch/' ================================================================================ diff --git a/README.md b/README.md index 688dd178..b76a1eb6 100644 --- a/README.md +++ b/README.md @@ -164,6 +164,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md). | [Sawyer](rethink_robotics_sawyer/README.md)|[](rethink_robotics_sawyer/README.md)|C| | [xArm7](ufactory_xarm7/README.md)|[](ufactory_xarm7/README.md)|C| | Mobile Manipulators| | | +| [Google MetA](google_meta/README.md)|[](google_meta/README.md)|B| | [Stretch 2](hello_robot_stretch/README.md)|[](hello_robot_stretch/README.md)|C| | Drones | | | | [Skydio X2](skydio_x2/README.md)|[](skydio_x2/README.md)|A| diff --git a/google_meta/LICENSE b/google_meta/LICENSE new file mode 100644 index 00000000..d6456956 --- /dev/null +++ b/google_meta/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/google_meta/README.md b/google_meta/README.md new file mode 100644 index 00000000..03c088ee --- /dev/null +++ b/google_meta/README.md @@ -0,0 +1,27 @@ +# Google MetA Description (MJCF) + +Requires MuJoCo 2.3.3 or later. + +## Overview + +This package contains a simplified robot description (MJCF) of the [MetA robot](https://everydayrobots.com/technology) developed by Google. + +

+ +

+ +## License + +This model is released under an [Apache-2.0 License](LICENSE). + +## Publications + +If you use this work in an academic context, please cite the following publication: + + @inproceedings{rlscale2023rss, +     title={Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators}, +     author={Alexander Herzog* and Kanishka Rao* and Karol Hausman* and Yao Lu* and Paul Wohlhart* and Mengyuan Yan and Jessica Lin and Montserrat Gonzalez Arenas and Ted Xiao and Daniel Kappler and Daniel Ho and Jarek Rettinghouse and Yevgen Chebotar and Kuang-Huei Lee and Keerthana Gopalakrishnan and Ryan Julian and Adrian Li and Chuyuan Kelly Fu and Bob Wei and Sangeetha Ramesh and Khem Holden and Kim Kleiven and David Rendleman and Sean Kirmani and Jeff Bingham and Jon Weisz and Ying Xu and Wenlong Lu and Matthew Bennice and Cody Fong and David Do and Jessica Lam and Yunfei Bai and Benjie Holson and Michael Quinlan and Noah Brown and Mrinal Kalakrishnan and Julian Ibarz and Peter Pastor and Sergey Levine + }, +     booktitle={Robotics: Science and Systems (RSS)}, +     year={2023} + } diff --git a/google_meta/assets/link_base_0_00.stl b/google_meta/assets/link_base_0_00.stl new file mode 100644 index 00000000..116c6360 Binary files /dev/null and b/google_meta/assets/link_base_0_00.stl differ diff --git a/google_meta/assets/link_base_0_01.stl b/google_meta/assets/link_base_0_01.stl new file mode 100644 index 00000000..03bf27cb Binary files /dev/null and b/google_meta/assets/link_base_0_01.stl differ diff --git a/google_meta/assets/link_base_1_00.stl b/google_meta/assets/link_base_1_00.stl new file mode 100644 index 00000000..6f56272b Binary files /dev/null and b/google_meta/assets/link_base_1_00.stl differ diff --git a/google_meta/assets/link_base_1_01.stl b/google_meta/assets/link_base_1_01.stl new file mode 100644 index 00000000..aaf80739 Binary files /dev/null and b/google_meta/assets/link_base_1_01.stl differ diff --git a/google_meta/assets/link_base_1_02.stl b/google_meta/assets/link_base_1_02.stl new file mode 100644 index 00000000..5a3911e9 Binary files /dev/null and b/google_meta/assets/link_base_1_02.stl differ diff --git a/google_meta/assets/link_base_1_03.stl b/google_meta/assets/link_base_1_03.stl new file mode 100644 index 00000000..32413e7c Binary files /dev/null and b/google_meta/assets/link_base_1_03.stl differ diff --git a/google_meta/assets/link_base_1_04.stl b/google_meta/assets/link_base_1_04.stl new file mode 100644 index 00000000..1194f9f4 Binary files /dev/null and b/google_meta/assets/link_base_1_04.stl differ diff --git a/google_meta/assets/link_base_1_05.stl b/google_meta/assets/link_base_1_05.stl new file mode 100644 index 00000000..3eda2ec5 Binary files /dev/null and b/google_meta/assets/link_base_1_05.stl differ diff --git a/google_meta/assets/link_base_1_06.stl b/google_meta/assets/link_base_1_06.stl new file mode 100644 index 00000000..7e3b9a4e Binary files /dev/null and b/google_meta/assets/link_base_1_06.stl differ diff --git a/google_meta/assets/link_base_1_07.stl b/google_meta/assets/link_base_1_07.stl new file mode 100644 index 00000000..02bdf73e Binary files /dev/null and b/google_meta/assets/link_base_1_07.stl differ diff --git a/google_meta/assets/link_base_1_08.stl b/google_meta/assets/link_base_1_08.stl new file mode 100644 index 00000000..eee61b72 Binary files /dev/null and b/google_meta/assets/link_base_1_08.stl differ diff --git a/google_meta/assets/link_base_1_09.stl b/google_meta/assets/link_base_1_09.stl new file mode 100644 index 00000000..52f924b4 Binary files /dev/null and b/google_meta/assets/link_base_1_09.stl differ diff --git a/google_meta/assets/link_base_1_10.stl b/google_meta/assets/link_base_1_10.stl new file mode 100644 index 00000000..5292d4d8 Binary files /dev/null and b/google_meta/assets/link_base_1_10.stl differ diff --git a/google_meta/assets/link_base_1_11.stl b/google_meta/assets/link_base_1_11.stl new file mode 100644 index 00000000..74091a2b Binary files /dev/null and b/google_meta/assets/link_base_1_11.stl differ diff --git a/google_meta/assets/link_base_1_12.stl b/google_meta/assets/link_base_1_12.stl new file mode 100644 index 00000000..abe695d8 Binary files /dev/null and b/google_meta/assets/link_base_1_12.stl differ diff --git a/google_meta/assets/link_base_1_13.stl b/google_meta/assets/link_base_1_13.stl new file mode 100644 index 00000000..67af68b7 Binary files /dev/null and b/google_meta/assets/link_base_1_13.stl differ diff --git a/google_meta/assets/link_base_1_14.stl b/google_meta/assets/link_base_1_14.stl new file mode 100644 index 00000000..183aa97f Binary files /dev/null and b/google_meta/assets/link_base_1_14.stl differ diff --git a/google_meta/assets/link_base_1_15.stl b/google_meta/assets/link_base_1_15.stl new file mode 100644 index 00000000..a0745575 Binary files /dev/null and b/google_meta/assets/link_base_1_15.stl differ diff --git a/google_meta/assets/link_base_1_16.stl 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