Use Google Robot for robot name.

PiperOrigin-RevId: 571359009 Change-Id: I2cd9ba609a34995637db30e61d1af8f0df87bbb5
google-deepmind · Oct 6, 2023 · e636c90 · e636c90
1 parent 6a3bdfb
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diff --git a/LICENSE b/LICENSE
@@ -484,7 +484,7 @@ License for contents in the directory 'google_barkour_v0/'
 
 
 ================================================================================
-License for contents in the directory 'google_meta/'
+License for contents in the directory 'google_robot/'
 ================================================================================
 
 

diff --git a/README.md b/README.md
@@ -164,7 +164,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | [Sawyer](rethink_robotics_sawyer/README.md)|[<img src="rethink_robotics_sawyer/sawyer.png" width="400">](rethink_robotics_sawyer/README.md)|C|
 | [xArm7](ufactory_xarm7/README.md)|[<img src="ufactory_xarm7/xarm7.png" width="400">](ufactory_xarm7/README.md)|C|
 | Mobile Manipulators|              |         |
-| [Google MetA](google_meta/README.md)|[<img src="google_meta/meta.png" width="400">](google_meta/README.md)|B|
+| [Google Robot](google_robot/README.md)|[<img src="google_robot/robot.png" width="400">](google_robot/README.md)|B|
 | [Stretch 2](hello_robot_stretch/README.md)|[<img src="hello_robot_stretch/stretch.png" width="400">](hello_robot_stretch/README.md)|C|
 | Drones             |              |         |
 | [Skydio X2](skydio_x2/README.md)|[<img src="skydio_x2/x2.png" width="400">](skydio_x2/README.md)|A|

diff --git a/google_meta/LICENSE → google_robot/LICENSE b/google_meta/LICENSE → google_robot/LICENSE
diff --git a/google_meta/README.md → google_robot/README.md b/google_meta/README.md → google_robot/README.md
@@ -1,13 +1,13 @@
-# Google MetA Description (MJCF)
+# Google Robot 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.
+This package contains a simplified robot description (MJCF) of a [mobile manipulator](https://rl-at-scale.github.io/) with a 7 degree-of-freedom (DoF) arm and a parallel jaw gripper developed by Google.
 
 <p float="left">
-  <img src="meta.png" width="400">
+  <img src="robot.png" width="400">
 </p>
 
 ## License

diff --git a/..._meta/assets/meta_finger_base_texture.png → google_robot/assets/finger_base_texture.png b/..._meta/assets/meta_finger_base_texture.png → google_robot/assets/finger_base_texture.png
diff --git a/...e_meta/assets/meta_finger_tip_texture.png → google_robot/assets/finger_tip_texture.png b/...e_meta/assets/meta_finger_tip_texture.png → google_robot/assets/finger_tip_texture.png
diff --git a/google_meta/assets/link_base_0_00.stl → google_robot/assets/link_base_0_00.stl b/google_meta/assets/link_base_0_00.stl → google_robot/assets/link_base_0_00.stl
diff --git a/google_meta/assets/link_base_0_01.stl → google_robot/assets/link_base_0_01.stl b/google_meta/assets/link_base_0_01.stl → google_robot/assets/link_base_0_01.stl
diff --git a/google_meta/assets/link_base_1_00.stl → google_robot/assets/link_base_1_00.stl b/google_meta/assets/link_base_1_00.stl → google_robot/assets/link_base_1_00.stl
diff --git a/google_meta/assets/link_base_1_01.stl → google_robot/assets/link_base_1_01.stl b/google_meta/assets/link_base_1_01.stl → google_robot/assets/link_base_1_01.stl
diff --git a/google_meta/assets/link_base_1_02.stl → google_robot/assets/link_base_1_02.stl b/google_meta/assets/link_base_1_02.stl → google_robot/assets/link_base_1_02.stl
diff --git a/google_meta/assets/link_base_1_03.stl → google_robot/assets/link_base_1_03.stl b/google_meta/assets/link_base_1_03.stl → google_robot/assets/link_base_1_03.stl
diff --git a/google_meta/assets/link_base_1_04.stl → google_robot/assets/link_base_1_04.stl b/google_meta/assets/link_base_1_04.stl → google_robot/assets/link_base_1_04.stl
diff --git a/google_meta/assets/link_base_1_05.stl → google_robot/assets/link_base_1_05.stl b/google_meta/assets/link_base_1_05.stl → google_robot/assets/link_base_1_05.stl
diff --git a/google_meta/assets/link_base_1_06.stl → google_robot/assets/link_base_1_06.stl b/google_meta/assets/link_base_1_06.stl → google_robot/assets/link_base_1_06.stl
diff --git a/google_meta/assets/link_base_1_07.stl → google_robot/assets/link_base_1_07.stl b/google_meta/assets/link_base_1_07.stl → google_robot/assets/link_base_1_07.stl
diff --git a/google_meta/assets/link_base_1_08.stl → google_robot/assets/link_base_1_08.stl b/google_meta/assets/link_base_1_08.stl → google_robot/assets/link_base_1_08.stl
diff --git a/google_meta/assets/link_base_1_09.stl → google_robot/assets/link_base_1_09.stl b/google_meta/assets/link_base_1_09.stl → google_robot/assets/link_base_1_09.stl
diff --git a/google_meta/assets/link_base_1_10.stl → google_robot/assets/link_base_1_10.stl b/google_meta/assets/link_base_1_10.stl → google_robot/assets/link_base_1_10.stl
diff --git a/google_meta/assets/link_base_1_11.stl → google_robot/assets/link_base_1_11.stl b/google_meta/assets/link_base_1_11.stl → google_robot/assets/link_base_1_11.stl
diff --git a/google_meta/assets/link_base_1_12.stl → google_robot/assets/link_base_1_12.stl b/google_meta/assets/link_base_1_12.stl → google_robot/assets/link_base_1_12.stl
diff --git a/google_meta/assets/link_base_1_13.stl → google_robot/assets/link_base_1_13.stl b/google_meta/assets/link_base_1_13.stl → google_robot/assets/link_base_1_13.stl
diff --git a/google_meta/assets/link_base_1_14.stl → google_robot/assets/link_base_1_14.stl b/google_meta/assets/link_base_1_14.stl → google_robot/assets/link_base_1_14.stl
diff --git a/google_meta/assets/link_base_1_15.stl → google_robot/assets/link_base_1_15.stl b/google_meta/assets/link_base_1_15.stl → google_robot/assets/link_base_1_15.stl
diff --git a/google_meta/assets/link_base_1_16.stl → google_robot/assets/link_base_1_16.stl b/google_meta/assets/link_base_1_16.stl → google_robot/assets/link_base_1_16.stl
diff --git a/google_meta/assets/link_base_1_17.stl → google_robot/assets/link_base_1_17.stl b/google_meta/assets/link_base_1_17.stl → google_robot/assets/link_base_1_17.stl
diff --git a/google_meta/assets/link_base_1_18.stl → google_robot/assets/link_base_1_18.stl b/google_meta/assets/link_base_1_18.stl → google_robot/assets/link_base_1_18.stl
diff --git a/google_meta/assets/link_base_1_19.stl → google_robot/assets/link_base_1_19.stl b/google_meta/assets/link_base_1_19.stl → google_robot/assets/link_base_1_19.stl
diff --git a/google_meta/assets/link_base_v.obj → google_robot/assets/link_base_v.obj b/google_meta/assets/link_base_v.obj → google_robot/assets/link_base_v.obj
diff --git a/google_meta/assets/link_bicep.stl → google_robot/assets/link_bicep.stl b/google_meta/assets/link_bicep.stl → google_robot/assets/link_bicep.stl
diff --git a/google_meta/assets/link_bicep_v.obj → google_robot/assets/link_bicep_v.obj b/google_meta/assets/link_bicep_v.obj → google_robot/assets/link_bicep_v.obj
diff --git a/google_meta/assets/link_elbow.stl → google_robot/assets/link_elbow.stl b/google_meta/assets/link_elbow.stl → google_robot/assets/link_elbow.stl
diff --git a/google_meta/assets/link_elbow_v.obj → google_robot/assets/link_elbow_v.obj b/google_meta/assets/link_elbow_v.obj → google_robot/assets/link_elbow_v.obj
diff --git a/google_meta/assets/link_finger_base.stl → google_robot/assets/link_finger_base.stl b/google_meta/assets/link_finger_base.stl → google_robot/assets/link_finger_base.stl
diff --git a/google_meta/assets/link_finger_base_v.obj → google_robot/assets/link_finger_base_v.obj b/google_meta/assets/link_finger_base_v.obj → google_robot/assets/link_finger_base_v.obj
diff --git a/google_meta/assets/link_finger_tip.stl → google_robot/assets/link_finger_tip.stl b/google_meta/assets/link_finger_tip.stl → google_robot/assets/link_finger_tip.stl
diff --git a/google_meta/assets/link_finger_tip_v.obj → google_robot/assets/link_finger_tip_v.obj b/google_meta/assets/link_finger_tip_v.obj → google_robot/assets/link_finger_tip_v.obj
diff --git a/google_meta/assets/link_forearm.stl → google_robot/assets/link_forearm.stl b/google_meta/assets/link_forearm.stl → google_robot/assets/link_forearm.stl
diff --git a/google_meta/assets/link_forearm_v.obj → google_robot/assets/link_forearm_v.obj b/google_meta/assets/link_forearm_v.obj → google_robot/assets/link_forearm_v.obj
diff --git a/google_meta/assets/link_gripper.stl → google_robot/assets/link_gripper.stl b/google_meta/assets/link_gripper.stl → google_robot/assets/link_gripper.stl
diff --git a/google_meta/assets/link_gripper_v.obj → google_robot/assets/link_gripper_v.obj b/google_meta/assets/link_gripper_v.obj → google_robot/assets/link_gripper_v.obj
diff --git a/google_meta/assets/link_head_pan.stl → google_robot/assets/link_head_pan.stl b/google_meta/assets/link_head_pan.stl → google_robot/assets/link_head_pan.stl
diff --git a/google_meta/assets/link_head_pan_v.obj → google_robot/assets/link_head_pan_v.obj b/google_meta/assets/link_head_pan_v.obj → google_robot/assets/link_head_pan_v.obj
diff --git a/google_meta/assets/link_head_tilt.stl → google_robot/assets/link_head_tilt.stl b/google_meta/assets/link_head_tilt.stl → google_robot/assets/link_head_tilt.stl
diff --git a/google_meta/assets/link_head_tilt_v.obj → google_robot/assets/link_head_tilt_v.obj b/google_meta/assets/link_head_tilt_v.obj → google_robot/assets/link_head_tilt_v.obj
diff --git a/google_meta/assets/link_shoulder.stl → google_robot/assets/link_shoulder.stl b/google_meta/assets/link_shoulder.stl → google_robot/assets/link_shoulder.stl
diff --git a/google_meta/assets/link_shoulder_v.obj → google_robot/assets/link_shoulder_v.obj b/google_meta/assets/link_shoulder_v.obj → google_robot/assets/link_shoulder_v.obj
diff --git a/google_meta/assets/link_torso_00.stl → google_robot/assets/link_torso_00.stl b/google_meta/assets/link_torso_00.stl → google_robot/assets/link_torso_00.stl
diff --git a/google_meta/assets/link_torso_01.stl → google_robot/assets/link_torso_01.stl b/google_meta/assets/link_torso_01.stl → google_robot/assets/link_torso_01.stl
diff --git a/google_meta/assets/link_torso_v.obj → google_robot/assets/link_torso_v.obj b/google_meta/assets/link_torso_v.obj → google_robot/assets/link_torso_v.obj
diff --git a/google_meta/assets/link_wheel_v.obj → google_robot/assets/link_wheel_v.obj b/google_meta/assets/link_wheel_v.obj → google_robot/assets/link_wheel_v.obj
diff --git a/google_meta/assets/link_wrist.stl → google_robot/assets/link_wrist.stl b/google_meta/assets/link_wrist.stl → google_robot/assets/link_wrist.stl
diff --git a/google_meta/assets/link_wrist_v.obj → google_robot/assets/link_wrist_v.obj b/google_meta/assets/link_wrist_v.obj → google_robot/assets/link_wrist_v.obj
diff --git a/google_meta/assets/meta_texture.png → google_robot/assets/robot_texture.png b/google_meta/assets/meta_texture.png → google_robot/assets/robot_texture.png
diff --git a/google_meta/meta.png → google_robot/robot.png b/google_meta/meta.png → google_robot/robot.png
diff --git a/google_meta/meta.xml → google_robot/robot.xml b/google_meta/meta.xml → google_robot/robot.xml
@@ -1,16 +1,16 @@
-<mujoco model="meta">
+<mujoco model="robot">
 
   <compiler angle="radian" assetdir="assets" autolimits="true"/>
 
   <option timestep="0.004" integrator="implicitfast"/>
 
   <asset>
-    <texture type="2d" name="meta_texture" file="meta_texture.png"/>
-    <texture type="2d" name="meta_finger_base_texture" file="meta_finger_base_texture.png"/>
-    <texture type="2d" name="meta_finger_tip_texture" file="meta_finger_tip_texture.png"/>
-    <material name="meta_mtl" texture="meta_texture"/>
-    <material name="meta_finger_base_mtl" texture="meta_finger_base_texture"/>
-    <material name="meta_finger_tip_mtl" texture="meta_finger_tip_texture"/>
+    <texture type="2d" name="robot_texture" file="robot_texture.png"/>
+    <texture type="2d" name="finger_base_texture" file="finger_base_texture.png"/>
+    <texture type="2d" name="finger_tip_texture" file="finger_tip_texture.png"/>
+    <material name="robot_mtl" texture="robot_texture"/>
+    <material name="finger_base_mtl" texture="finger_base_texture"/>
+    <material name="finger_tip_mtl" texture="finger_tip_texture"/>
 
     <!-- Collision meshes -->
     <mesh file="link_base_0_00.stl"/>
@@ -65,10 +65,10 @@
   </asset>
 
   <default>
-    <default class="meta">
+    <default class="robot">
       <joint damping="10.0" frictionloss="1" armature=".1"/>
       <default class="visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" material="meta_mtl"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="robot_mtl"/>
       </default>
       <default class="collision">
         <geom type="mesh" rgba="1 1 1 1" group="3" contype="1" conaffinity="1"/>
@@ -84,7 +84,7 @@
 
   <worldbody>
     <light pos="0 0 3"/>
-    <body name="base_link" childclass="meta" pos="0 0 0.06205">
+    <body name="base_link" childclass="robot" pos="0 0 0.06205">
       <!-- geom for base -->
       <geom class="visual" mesh="link_base_v"/>
       <geom class="collision" mesh="link_base_0_00"/>
@@ -159,13 +159,13 @@
                     <!-- right finger -->
                     <body name="link_finger_right" pos="0 0.025 0.05886" quat="0.879969 -0.475032 0 0" gravcomp="1">
                       <joint name="joint_finger_right" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/>
-                      <geom class="visual" mesh="link_finger_base_v" material="meta_finger_base_mtl"/>
+                      <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
                       <geom class="collision" mesh="link_finger_base" mass="0.0333245"/>
                       <geom class="finger_base"/>
                       <geom class="finger_base" pos="0 -0.005 0.04"/>
                       <geom class="finger_base" pos="0 -0.005 0.05"/>
                       <body name="link_finger_tip_right" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1">
-                        <geom class="visual" mesh="link_finger_tip_v" material="meta_finger_tip_mtl"/>
+                        <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
                         <geom class="collision" mesh="link_finger_tip_v" mass="0.0161862"/>
                         <geom class="finger_tip"/>
                         <geom class="finger_tip" pos="0 0 0.01"/>
@@ -177,13 +177,13 @@
                     <!-- left finger -->
                     <body name="link_finger_left" pos="0 -0.025 0.05886" quat="0 0 -0.475032 0.879969" gravcomp="1">
                       <joint name="joint_finger_left" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/>
-                      <geom class="visual" mesh="link_finger_base_v" material="meta_finger_base_mtl"/>
+                      <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
                       <geom class="collision" mesh="link_finger_base_v" mass="0.0333245" />
                         <geom class="finger_base"/>
                         <geom class="finger_base" pos="0 -0.005 0.04"/>
                         <geom class="finger_base" pos="0 -0.005 0.05"/>
                       <body name="link_finger_tip_left" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1">
-                        <geom class="visual" mesh="link_finger_tip_v" material="meta_finger_tip_mtl"/>
+                        <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
                         <geom class="collision" mesh="link_finger_tip" mass="0.0161862"/>
                         <geom class="finger_tip"/>
                         <geom class="finger_tip" pos="0 0 0.01"/>

diff --git a/google_meta/scene.xml → google_robot/scene.xml b/google_meta/scene.xml → google_robot/scene.xml
@@ -1,6 +1,6 @@
-<mujoco model="meta scene">
+<mujoco model="robot scene">
 
-  <include file="meta.xml"/>
+  <include file="robot.xml"/>
 
   <statistic center="0 0 0.8" extent="2"/>