Add Eve R3 description

Author: stephane-caron

CHANGELOG.md

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

CONTRIBUTING.md

@@ -13,8 +13,8 @@ Make sure that your pull request satisfies the following:
 
 - The robot description is distributed legally and under an open source license (permissive or copyleft)
 - The file name for the new submodule is ``<robot_name>_description.py`` in snake-case. For example, ``R2D2_description`` becomes ``r2d2_description.py``
-- If applicable, add the repository containing the new description to ``_repositories.py``
-    - If release tags are not available, use a specific git commit ID. This way the imported submodule will still work in the interval between a change in the file structure of the target repository and the corresponding update in `robot_descriptions`.
+- If needed, add the repository containing the new description to ``_repositories.py``.
+    - Use a specific git commit ID. This way the robot description will still work in the interval between a change in the file structure of the target repository and the corresponding update in `robot_descriptions`.
 - Add the description metadata to the ``DESCRIPTIONS`` dictionary in ``_descriptions.py``
 - Check that all unit tests are successful by ``tox -e py3X`` where ``3.X`` is the version of your Python interpreter
 - Document the description's submodule name in the Descriptions section of the [README](README.md)

README.md

@@ -113,6 +113,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Crazyflie 2.0         | Bitcraze                 | URDF       | `cf2_description`             |
 | Double Pendulum       | N/A                      | URDF       | `double_pendulum_description` |
 | e.DO                  | Comau                    | URDF       | `edo_description`             |
+| Eve R3                | Halodi                   | URDF       | `eve_r3_description`          |
 | Fetch                 | Fetch Robotics           | URDF       | `fetch_description`           |
 | FingerEdu             | N/A                      | URDF       | `finger_edu_description`      |
 | Gen2                  | Kinova                   | URDF       | `gen2_description`            |

robot_descriptions/_repositories.py

@@ -96,6 +96,11 @@ class Repository:
         commit="v1.0.0",
         cache_path="gym-pybullet-drones",
     ),
+    "halodi-robot-models": Repository(
+        url="https://github.com/Halodi/halodi-robot-models.git",
+        commit="ba9e7c8cdbd63e20fc6526dbbea1b91c102fb820",
+        cache_path="halodi-robot-models",
+    ),
     "icub-models": Repository(
         url="https://github.com/robotology/icub-models.git",
         commit="v1.25.0",

robot_descriptions/eve_r3_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.
+
+"""
+Eve R3 description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("halodi-robot-models")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "eve_r3_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "eve_r3.urdf")