Add Franka FR3 v2 MJCF description

Author: stephane-caron

CHANGELOG.md

@@ -8,8 +8,9 @@ All notable changes to this project will be documented in this file.
 
 - Description: Aero Hand Open (MJCF)
 - Description: Aero Hand Open (URDF)
-- Description: ToddlerBot 2XC (MJDF)
-- Description: ToddlerBot 2XM (MJDF)
+- Description: Franka FR3 v2 (MJCF)
+- Description: ToddlerBot 2XC (MJCF)
+- Description: ToddlerBot 2XM (MJCF)
 
 ### Changed
 

README.md

@@ -136,6 +136,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `edo_description`             | e.DO                  | Comau                    | URDF       | [BSD-3-Clause](https://github.com/ianathompson/eDO_description/blob/17b3f92f834746106d6a4befaab8eeab3ac248e6/LICENSE) |
 | `fanuc_m710ic_description`    | M-710iC               | Fanuc                    | URDF       | BSD-3-Clause |
 | `fr3_mj_description`          | FR3                   | Franka Robotics          | MJCF       | Apache-2.0   |
+| `fr3_v2_mj_description`       | FR3 v2                | Franka Robotics          | MJCF       | Apache-2.0   |
 | `gen2_description`            | Gen2                  | Kinova                   | URDF       | BSD-3-Clause |
 | `gen3_description`            | Gen3                  | Kinova                   | URDF       | MIT          |
 | `gen3_lite_description`       | Gen3 Lite             | Kinova                   | URDF       | BSD-3-Clause |

robot_descriptions/_descriptions.py

@@ -121,6 +121,7 @@ def has_urdf(self) -> bool:
     "fetch_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "finger_edu_description": Description(Format.URDF, tags={"educational"}),
     "fr3_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "fr3_v2_mj_description": Description(Format.MJCF, tags={"arm"}),
     "g1_description": Description(Format.URDF, tags={"humanoid"}),
     "g1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "gen2_description": Description(Format.URDF, tags={"arm"}),

robot_descriptions/fr3_v2_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Franka FR3 v2 MJCF 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(
+    "mujoco_menagerie",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "franka_fr3_v2")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "fr3v2.xml")