Add FANUC M-710iC description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: FANUC M-710iC
 - Description: Gen3
 - Description: TriFingerEdu
 

README.md

@@ -127,6 +127,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                          | Robot                 | Maker                    | DOF | Format     |
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `edo_description`             | e.DO                  | Comau                    | 6   | URDF       |
+| `fanuc_m710ic_description`    | M-710iC               | Fanuc                    | 6   | URDF       |
 | `gen2_description`            | Gen2 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
@@ -138,7 +139,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |
-| `z1_description`              | Z1                    | UNITREE Robotics         | 6  | URDF       |
+| `z1_description`              | Z1                    | UNITREE Robotics         | 6   | URDF       |
 
 ### Bipeds
 

robot_descriptions/_descriptions.py

@@ -81,6 +81,7 @@ def has_urdf(self) -> bool:
     "edo_description": Description(Format.URDF),
     "ergocub_description": Description(Format.URDF),
     "eve_r3_description": Description(Format.URDF),
+    "fanuc_m710ic_description": Description(Format.URDF),
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),
     "gen2_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -102,6 +102,11 @@ class Repository:
         commit="9ba565ca1491efa92ebac38cdd499e5b1c256bf1",  # v4.0.3
         cache_path="example-robot-data",
     ),
+    "fanuc_m710ic_description": Repository(
+        url="https://github.com/" "robot-descriptions/fanuc_m710ic_description.git",
+        commit="c3bb97cdffec25cf00463880d35c627af85b5b23",
+        cache_path="fanuc_m710ic_description",
+    ),
     "GingerURDF": Repository(
         url="https://github.com/Rayckey/GingerURDF.git",
         commit="6a1307cd0ee2b77c82f8839cdce3a2e2eed2bd8f",

robot_descriptions/fanuc_m710ic_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.
+
+"""Fanuc M-710iC 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(
+    "fanuc_m710ic_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "m710ic70.urdf")