added Draco3 URDF description

Author: shbang91

CHANGELOG.md

@@ -239,3 +239,9 @@ This initial release includes 33 robot descriptions:
 - Command line to show or animate robot descriptions
 - Contributing instructions
 - This changelog
+
+## 2023/02/21
+
+### Added
+
+- Description: Draco3 URDF

README.md

@@ -190,6 +190,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `sigmaban_description`        | SigmaBan              | Rhoban                   | 20  | URDF       |
 | `talos_description`           | TALOS                 | PAL Robotics             | 32  | URDF       |
 | `valkyrie_description`        | Valkyrie              | NASA JSC Robotics        | 59  | URDF       |
+| `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
 
 ### Mobile manipulators
 

robot_descriptions/_descriptions.py

@@ -121,4 +121,5 @@ def has_urdf(self) -> bool:
     "valkyrie_description": Description(Format.URDF),
     "yumi_description": Description(Format.URDF),
     "z1_description": Description(Format.URDF),
+    "draco3_description": Description(Format.URDF),
 }

robot_descriptions/_repositories.py

@@ -227,4 +227,9 @@ class Repository:
         commit="v1.1.0",
         cache_path="upkie_description",
     ),
+    "draco3_description": Repository(
+        url="https://github.com/shbang91/draco3_description.git",
+        commit="7ac3d5e7967208cc895974e69a43ba3bbd6a7133",
+        cache_path="draco3_description",
+    ),
 }

robot_descriptions/draco3_description.py

@@ -0,0 +1,34 @@
+#!/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"
+)