Add Aero Hand Open description

Author: stephane-caron

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: Aero Hand Open (URDF)
+
 ### Fixed
 
 - Update repository of YAM description

README.md

@@ -214,6 +214,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 |----------------------------------|-----------------------|----------------------------|------------|---------|
 | `ability_hand_description`       | Ability Hand          | PSYONIC, Inc.              | URDF       | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE)     |
 | `ability_hand_mj_description`    | Ability Hand          | PSYONIC, Inc.              | MJCF       | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE)     |
+| `aero_hand_open_description`     | Aero Hand Open        | TetherIA                   | URDF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/pull/213/commits/6d88dc56029eec7f92e530e1c16283a4b53166e8) |
 | `allegro_hand_description`       | Allegro Hand          | Wonik Robotics             | URDF       | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT)     |
 | `allegro_hand_mj_description`    | Allegro Hand          | Wonik Robotics             | MJCF       | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
 | `barrett_hand_description`       | BarrettHand           | Barrett Technology         | URDF       | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |

robot_descriptions/_descriptions.py

@@ -60,6 +60,7 @@ def has_urdf(self) -> bool:
         Format.MJCF, tags={"end_effector"}
     ),
     "adam_lite_mj_description": Description(Format.MJCF, tags={"humanoid"}),
+    "aero_hand_open_description": Description(Format.URDF, targs={"end_effector"}),
     "aliengo_description": Description(Format.URDF, tags={"quadruped"}),
     "aliengo_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "allegro_hand_description": Description(

robot_descriptions/_repositories.py

@@ -31,6 +31,11 @@ class Repository:
         commit="89407424edfc22faceaedcd7c3ea2b7947cbbb2c",
         cache_path="ability_hand_api",
     ),
+    "aero-hand-open": Repository(
+        url="https://github.com/TetherIA/aero-hand-open.git",
+        commit="ad7d4fc4078ceedfeefbf27aa5f058b622e18521",
+        cache_path="aero_hand_open",
+    ),
     "anymal_b_simple_description": Repository(
         url="https://github.com/ANYbotics/anymal_b_simple_description.git",
         commit="988b5df22b84761bdf08111b1c2ccc883793f456",

robot_descriptions/aero_hand_open_description.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Aero Hand Open 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(
+    "aero-hand-open",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH,
+    "ros2",
+    "src",
+    "aero_hand_open_description",
+)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "aero_hand_open_left.urdf")
+
+# Description-specific paths
+
+URDF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "aero_hand_open_left.urdf")
+
+URDF_PATH_RIGHT: str = _path.join(PACKAGE_PATH, "aero_hand_open_left.urdf")