Add Kinova Gen3 description

Author: stephane-caron

CHANGELOG.md

@@ -2,6 +2,12 @@
 
 All notable changes to this project will be documented in this file.
 
+## Unreleased
+
+### Added
+
+- Description: Kinova Gen3
+
 ## [0.6.0] - 2022/09/28
 
 ### Added

README.md

@@ -125,6 +125,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Fetch                 | Fetch Robotics           | URDF       | `fetch_description`           |
 | FingerEdu             | N/A                      | URDF       | `finger_edu_description`      |
 | Gen2                  | Kinova                   | URDF       | `gen2_description`            |
+| Gen3                  | Kinova                   | MJCF       | `gen3_mj_description`         |
 | Ginger                | Paaila Technology        | URDF       | `ginger_description`          |
 | Go1                   | UNITREE Robotics         | MJCF       | `go1_mj_description`          |
 | Go1                   | UNITREE Robotics         | URDF       | `go1_description`             |

robot_descriptions/_descriptions.py

@@ -93,6 +93,7 @@ def has_urdf(self) -> bool:
     "fetch_description": Description(Format.URDF),
     "finger_edu_description": Description(Format.URDF),
     "gen2_description": Description(Format.URDF),
+    "gen3_mj_description": Description(Format.MJCF),
     "ginger_description": Description(Format.URDF),
     "go1_description": Description(Format.URDF),
     "go1_mj_description": Description(Format.MJCF),

robot_descriptions/_repositories.py

@@ -121,6 +121,11 @@ class Repository:
         commit="0f0ce7daefdd66c54e0909a6bf2c22154844f5f3",
         cache_path="jvrc_mj_description",
     ),
+    "kinova_mj_description": Repository(
+        url="https://github.com/mathieu-celerier/kinova_mj_description.git",
+        commit="cee556b0a438e6904634a90826d4e8d2e005cd1f",
+        cache_path="kinova_mj_description",
+    ),
     "mini_cheetah_urdf": Repository(
         url="https://github.com/Derek-TH-Wang/mini_cheetah_urdf.git",
         commit="1988bceb26e81f28594a16e7d5e6abe5cbb27ace",

robot_descriptions/gen3_mj_description.py

@@ -0,0 +1,30 @@
+#!/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.
+
+"""
+Gen3 description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("kinova_mj_description")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "gen3_7dof_mujoco.xml")