Add BarrettHand description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: BarrettHand
 - Description: Eve R3
 - Description: Robonaut 2
 - Description: Valkyrie

README.md

@@ -106,6 +106,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | ANYmal C              | ANYbotics                | URDF       | `anymal_c_description`        |
 | Atlas DRC (v3)        | Boston Dynamics          | URDF       | `atlas_drc_description`       |
 | Atlas v4              | Boston Dynamics          | URDF       | `atlas_v4_description`        |
+| BarrettHand           | Barrett Technology       | URDF       | `barrett_hand_description`    |
 | Baxter                | Rethink Robotics         | URDF       | `baxter_description`          |
 | Bolt                  | ODRI                     | URDF       | `bolt_description`            |
 | Cassie                | Agility Robotics         | MJCF       | `cassie_mj_description`       |

robot_descriptions/_descriptions.py

@@ -81,6 +81,7 @@ def has_urdf(self) -> bool:
     "anymal_c_mj_description": Description(Format.MJCF),
     "atlas_drc_description": Description(Format.URDF),
     "atlas_v4_description": Description(Format.URDF),
+    "barrett_hand_description": Description(Format.URDF),
     "baxter_description": Description(Format.URDF),
     "bolt_description": Description(Format.URDF),
     "cassie_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -56,6 +56,11 @@ class Repository:
         commit="v1.2.0",
         cache_path="baxter_common",
     ),
+    "bhand_model": Repository(
+        url="https://github.com/jhu-lcsr-attic/bhand_model.git",
+        commit="937f4186d6458bd682a7dae825fb6f4efe56ec69",
+        cache_path="bhand_model",
+    ),
     "bullet3": Repository(
         url="https://github.com/bulletphysics/bullet3.git",
         commit="3.24",

robot_descriptions/barrett_hand_description.py

@@ -0,0 +1,30 @@
+#!/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.
+
+"""
+BarrettHand description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("bhand_model")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "robots", "bhand_model.URDF")