Add YuMi description

Author: stephane-caron

CHANGELOG.md

@@ -17,6 +17,7 @@ All notable changes to this project will be documented in this file.
 - Description: Robotiq 2F-85 MJCF
 - Description: Shadow Hand MJCF
 - Description: UR5e MJCF
+- Description: YuMi
 - Loader: Pinocchio
 - Unit test fixture for loaders
 

README.md

@@ -133,6 +133,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | UR3                   | Universal Robots         | URDF       | `ur3_description`             |
 | UR5                   | Universal Robots         | URDF       | `ur5_description`             |
 | UR5e                  | Universal Robots         | MJCF       | `ur5e_mj_description`         |
+| YuMi                  | ABB                      | URDF       | `yumi_description`            |
 
 New robot descriptions are welcome! Check out the [guidelines](https://github.com/stephane-caron/robot_descriptions.py/tree/master/CONTRIBUTING.md) then open a PR.
 

robot_descriptions/_description_names.py

@@ -67,4 +67,5 @@
     "ur3_description",
     "ur5_description",
     "ur5e_mj_description",
+    "yumi_description",
 ]

robot_descriptions/yumi_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.
+
+"""
+YuMi description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("robot-assets")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "urdfs", "robots", "yumi")
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "yumi.urdf")