Add TriFingerEdu description

Author: stephane-caron

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## Unreleased
 
+### Added
+
+- Description: TriFingerEdu
+
 ### Changed
 
 - Update Stretch description to v1.0.0

CONTRIBUTING.md

@@ -19,6 +19,6 @@ The goal of this project is to facilitate loading and sharing of robot descripti
     - For example, the file name for the Kinova (maker) Gen2 (robot name) is ``gen2_description.py``.
     - Use the ``mj_description`` suffix for an MJCF description.
 4. **Listing:** Add the description metadata to the ``DESCRIPTIONS`` dictionary in ``_descriptions.py``.
-5. **Testing:** Check that all unit tests are successful by ``tox``.
-6. **README:** Document the description's submodule name in the Descriptions section of the [README](README.md).
-7. **Changelog:** Write down the new model at the top of the [changelog](CHANGELOG.md).
+5. **README:** Document the description's submodule name in the Descriptions section of the [README](README.md).
+6. **CHANGELOG:** Write down the new model at the top of the [changelog](CHANGELOG.md).
+7. **Testing:** Check that all unit tests are successful by ``tox``.

README.md

@@ -172,6 +172,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `double_pendulum_description` | Double Pendulum       | 2   | URDF       |
 | `finger_edu_description`      | FingerEdu             | 3   | URDF       |
 | `simple_humanoid_description` | Simple Humanoid       | 29  | URDF       |
+| `trifinger_edu_description`   | TriFingerEdu          | 9   | URDF       |
 
 ### End effectors
 

robot_descriptions/_descriptions.py

@@ -117,6 +117,7 @@ def has_urdf(self) -> bool:
     "stretch_description": Description(Format.URDF),
     "talos_description": Description(Format.URDF),
     "tiago_description": Description(Format.URDF),
+    "trifinger_edu_description": Description(Format.URDF),
     "upkie_description": Description(Format.URDF),
     "ur10_description": Description(Format.URDF),
     "ur3_description": Description(Format.URDF),

robot_descriptions/trifinger_edu_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.
+
+"""TriFingerEdu 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(
+    "differentiable-robot-model",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "diff_robot_data", "trifinger_edu_description"
+)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "trifinger_edu.urdf")