Add ergoCub description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Draco3 (thanks to @shbang91)
+- Description: ergoCub
 
 ### Changed
 

README.md

@@ -182,6 +182,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `atlas_drc_description`       | Atlas DRC (v3)        | Boston Dynamics          | 30  | URDF       |
 | `atlas_v4_description`        | Atlas v4              | Boston Dynamics          | 30  | URDF       |
 | `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
+| `ergocub_description`         | ergoCub               | IIT                      | 57  | URDF       |
 | `icub_description`            | iCub                  | IIT                      | 32  | URDF       |
 | `jaxon_description`           | JAXON                 | JSK                      | 38  | URDF       |
 | `jvrc_description`            | JVRC-1                | AIST                     | 34  | URDF       |

robot_descriptions/_descriptions.py

@@ -79,6 +79,7 @@ def has_urdf(self) -> bool:
     "double_pendulum_description": Description(Format.URDF),
     "draco3_description": Description(Format.URDF),
     "edo_description": Description(Format.URDF),
+    "ergocub_description": Description(Format.URDF),
     "eve_r3_description": Description(Format.URDF),
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -87,6 +87,11 @@ class Repository:
         commit="17b3f92f834746106d6a4befaab8eeab3ac248e6",
         cache_path="edo_sim",  # match package name
     ),
+    "ergocub-software": Repository(
+        url="https://github.com/icub-tech-iit/ergocub-software.git",
+        commit="ac3f223dc2f183dea3f819369da0d58b59f1b2d3",
+        cache_path="ergocub-software",
+    ),
     "example-robot-data": Repository(
         url="https://github.com/Gepetto/example-robot-data.git",
         commit="9ba565ca1491efa92ebac38cdd499e5b1c256bf1",  # v4.0.3

robot_descriptions/ergocub_description.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2023 Inria
+#
+# 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.
+
+"""ergoCub 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(
+    "ergocub-software",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "urdf", "ergoCub")
+
+URDF_PATH: str = _path.join(
+    PACKAGE_PATH, "robots", "ergoCubSN000", "model.urdf"
+)