Add Rhea description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Rhea
 - Frame selector in URDF frame display example
 - README: Conda installation instructions
 

README.md

@@ -146,6 +146,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `bolt_description`            | Bolt                  | ODRI                     | 6   | URDF       |
 | `cassie_description`          | Cassie                | Agility Robotics         | 16  | URDF       |
 | `cassie_mj_description`       | Cassie                | Agility Robotics         | 16  | MJCF       |
+| `rhea_description`            | Rhea                  | Gabrael Levine           | 7   | URDF       |
 | `spryped_description`         | Spryped               | Benjamin Bokser          | 8   | URDF       |
 | `upkie_description`           | Upkie                 | Tast's Robots            | 6   | URDF       |
 

robot_descriptions/_descriptions.py

@@ -106,6 +106,7 @@ def has_urdf(self) -> bool:
     "pr2_description": Description(Format.URDF),
     "r2_description": Description(Format.URDF),
     "reachy_description": Description(Format.URDF),
+    "rhea_description": Description(Format.URDF),
     "robotiq_2f85_description": Description(Format.URDF),
     "robotiq_2f85_mj_description": Description(Format.MJCF),
     "romeo_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -177,6 +177,11 @@ class Repository:
         commit="release-1.0.0",
         cache_path="reachy_description",
     ),
+    "rhea_description": Repository(
+        url="https://github.com/tasts-robots/rhea_description.git",
+        commit="1dc0f1abcf51b5d8a8f7ff8a548399ff0df1414f",
+        cache_path="rhea_description",
+    ),
     "robot-assets": Repository(
         url="https://github.com/ankurhanda/robot-assets.git",
         commit="12f1a3c89c9975194551afaed0dfae1e09fdb27c",

robot_descriptions/rhea_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.
+
+"""Rhea 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(
+    "rhea_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "rhea.urdf")