Add Kinova Jaco Gen3 description

Author: stephane-caron

CHANGELOG.md

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

README.md

@@ -127,8 +127,9 @@ The DOF column denotes the number of actuated degrees of freedom.
 | Name                          | Robot                 | Maker                    | DOF | Format     |
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `edo_description`             | e.DO                  | Comau                    | 6   | URDF       |
-| `gen2_description`            | Gen2                  | Kinova                   | 6   | URDF       |
-| `gen3_mj_description`         | Gen3                  | Kinova                   | 7   | MJCF       |
+| `gen2_description`            | Gen2 (Jaco)           | Kinova                   | 6   | URDF       |
+| `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
+| `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
 | `iiwa_description`            | iiwa                  | KUKA                     | 7   | URDF       |
 | `panda_description`           | Panda                 | Franka Emika             | 8   | URDF       |
 | `panda_mj_description`        | Panda                 | Franka Emika             | 8   | MJCF       |

robot_descriptions/_descriptions.py

@@ -84,6 +84,7 @@ def has_urdf(self) -> bool:
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),
     "gen2_description": Description(Format.URDF),
+    "gen3_description": Description(Format.URDF),
     "gen3_mj_description": Description(Format.MJCF),
     "ginger_description": Description(Format.URDF),
     "go1_description": Description(Format.URDF),

robot_descriptions/gen2_description.py

@@ -15,7 +15,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Gen2 description."""
+"""Kinova Jaco Gen2 description."""
 
 from os import getenv as _getenv
 from os import path as _path

robot_descriptions/gen3_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.
+
+"""Kinova Jaco Gen3 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", "kinova_description"
+)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "jaco.urdf")

robot_descriptions/gen3_mj_description.py

@@ -15,7 +15,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Gen3 description."""
+"""Kinova Jaco Gen3 description."""
 
 from os import getenv as _getenv
 from os import path as _path