Add Robonaut 2 description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Robonaut 2
 - Description: Valkyrie
 - Loader: MuJoCo
 - Unit tests to check that MuJoCo loads all MJCF descriptions successfully

README.md

@@ -133,6 +133,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Poppy Torso           | Poppy Project            | URDF       | `poppy_torso_description`     |
 | PR2                   | Willow Garage            | URDF       | `pr2_description`             |
 | Reachy                | Pollen Robotics          | URDF       | `reachy_description`          |
+| Robonaut 2            | NASA JSC Robotics        | URDF       | `r2_description`              |
 | Robotiq 2F-85         | Robotiq                  | MJCF       | `robotiq_2f85_mj_description` |
 | Robotiq 2F-85         | Robotiq                  | URDF       | `robotiq_2f85_description`    |
 | Romeo                 | Aldebaran Robotics       | URDF       | `romeo_description`           |

robot_descriptions/_descriptions.py

@@ -108,6 +108,7 @@ def has_urdf(self) -> bool:
     "poppy_ergo_jr_description": Description(Format.URDF),
     "poppy_torso_description": Description(Format.URDF),
     "pr2_description": Description(Format.URDF),
+    "r2_description": Description(Format.URDF),
     "reachy_description": Description(Format.URDF),
     "robotiq_2f85_description": Description(Format.URDF),
     "robotiq_2f85_mj_description": Description(Format.MJCF),

robot_descriptions/r2_description.py

@@ -0,0 +1,84 @@
+#!/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.
+
+"""
+Robonaut 2 description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("nasa-urdf-robots")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "r2_description")
+
+URDF_PATH: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_full_control.urdf.urdf"
+)
+
+# Description-specific paths
+
+URDF_PATH_B: str = _path.join(PACKAGE_PATH, "robots", "r2b.urdf")
+URDF_PATH_C1: str = _path.join(PACKAGE_PATH, "robots", "r2c1.urdf")
+URDF_PATH_C5: str = _path.join(PACKAGE_PATH, "robots", "r2c5.urdf")
+URDF_PATH_C6: str = _path.join(PACKAGE_PATH, "robots", "r2c6.urdf")
+
+URDF_PATH_B_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2b_control.urdf"
+)
+URDF_PATH_C1_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c1_control.urdf"
+)
+URDF_PATH_C5_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c5_control.urdf"
+)
+URDF_PATH_C6_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c6_control.urdf"
+)
+
+URDF_PATH_B_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2b_dynamics.urdf"
+)
+URDF_PATH_C1_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c1_dynamics.urdf"
+)
+URDF_PATH_C5_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c5_dynamics.urdf"
+)
+URDF_PATH_C6_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c6_dynamics.urdf"
+)
+
+URDF_PATH_C_SIM_FULL_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_full_control.urdf"
+)
+URDF_PATH_C_SIM_FULL_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_full_dynamics.urdf"
+)
+URDF_PATH_C_SIM_LEGS_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_legs_control.urdf"
+)
+URDF_PATH_C_SIM_LEGS_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_legs_dynamics.urdf"
+)
+URDF_PATH_C_SIM_UPPERBODY_CONTROL: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_upperbody_control.urdf"
+)
+URDF_PATH_C_SIM_UPPERBODY_DYNAMICS: str = _path.join(
+    PACKAGE_PATH, "robots", "r2c_sim_upperbody_dynamics.urdf"
+)