Merge branch 'shbang91-master'

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## Unreleased
 
+### Added
+
+- Description: Draco3 URDF
+
 ### Changed
 
 - CI: switch to ruff

CONTRIBUTING.md

@@ -21,4 +21,4 @@ The goal of this project is to facilitate loading and sharing of robot descripti
 4. **Listing:** Add the description metadata to the ``DESCRIPTIONS`` dictionary in ``_descriptions.py``.
 5. **Testing:** Check that all unit tests are successful by ``tox -e py``.
 6. **README:** Document the description's submodule name in the Descriptions section of the [README](README.md).
-7. **Changelog:** Write down the new model to the [changelog](CHANGELOG.md).
+7. **Changelog:** Write down the new model at the top of the [changelog](CHANGELOG.md).

README.md

@@ -181,6 +181,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `atlas_drc_description`       | Atlas DRC (v3)        | Boston Dynamics          | 30  | URDF       |
 | `atlas_v4_description`        | Atlas v4              | Boston Dynamics          | 30  | URDF       |
+| `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
 | `icub_description`            | iCub                  | IIT                      | 32  | URDF       |
 | `jaxon_description`           | JAXON                 | JSK                      | 38  | URDF       |
 | `jvrc_description`            | JVRC-1                | AIST                     | 34  | URDF       |

robot_descriptions/_descriptions.py

@@ -77,6 +77,7 @@ def has_urdf(self) -> bool:
     "cassie_mj_description": Description(Format.MJCF),
     "cf2_description": Description(Format.URDF),
     "double_pendulum_description": Description(Format.URDF),
+    "draco3_description": Description(Format.URDF),
     "edo_description": Description(Format.URDF),
     "eve_r3_description": Description(Format.URDF),
     "fetch_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -72,6 +72,11 @@ class Repository:
         commit="fcc3775453e4da6797cd4eacd3d8321d9906755a",
         cache_path="cassie_mj_description",
     ),
+    "draco3_description": Repository(
+        url="https://github.com/shbang91/draco3_description.git",
+        commit="7ac3d5e7967208cc895974e69a43ba3bbd6a7133",
+        cache_path="draco3_description",
+    ),
     "drake": Repository(
         url="https://github.com/RobotLocomotion/drake.git",
         commit="v1.7.0",

robot_descriptions/draco3_description.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# 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.
+
+"""Draco3 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(
+    "draco3_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "draco3.urdf")