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Add ToddlerBot description
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4 files changed

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CHANGELOG.md

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@@ -6,8 +6,9 @@ All notable changes to this project will be documented in this file.
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### Added
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- Description: Unitree H1\_2 (URDF) (thanks to @TonyZYT2000)
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- Description: ToddlerBot (URDF)
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- Description: Unitree H1\_2 (MJCF) (thanks to @TonyZYT2000)
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- Description: Unitree H1\_2 (URDF) (thanks to @TonyZYT2000)
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### Changed
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robot_descriptions/_descriptions.py

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@@ -222,6 +222,7 @@ def has_urdf(self) -> bool:
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"talos_description": Description(Format.URDF, tags={"humanoid"}),
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"talos_mj_description": Description(Format.MJCF, tags={"humanoid"}),
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"tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
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"toddlerbot_description": Description(Format.URDF, tags={"humanoid"}),
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"trifinger_edu_description": Description(
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Format.URDF, tags={"educational"}
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),

robot_descriptions/_repositories.py

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@@ -318,6 +318,11 @@ class Repository:
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commit="77169405d6a48a5d3f3f75eb014209f375ff23b6", # v2.0.0
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cache_path="talos_data", # match package name
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),
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"toddlerbot": Repository(
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url="https://github.com/hshi74/toddlerbot.git",
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commit="067f9dc4f50143e36334877b9395b9c5c29ee30c",
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cache_path="toddlerbot",
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),
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"unitree_mujoco": Repository(
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url="https://github.com/unitreerobotics/unitree_mujoco.git",
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commit="f3300ff1bf0ab9efbea0162717353480d9b05d73",
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# SPDX-License-Identifier: Apache-2.0
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"""ToddlerBot description."""
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from os import getenv as _getenv
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from os import path as _path
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from ._cache import clone_to_cache as _clone_to_cache
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REPOSITORY_PATH: str = _clone_to_cache(
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"toddlerbot",
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commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
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)
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PACKAGE_PATH: str = _path.join(
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REPOSITORY_PATH, "toddlerbot", "descriptions", "toddlerbot_2xc"
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)
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URDF_PATH: str = _path.join(PACKAGE_PATH, "toddlerbot_2xc.urdf")

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