Add ANYmal B description

Author: stephane-caron

CHANGELOG.md

@@ -9,6 +9,7 @@ All notable changes to this project will be documented in this file.
 - A1
 - Aliengo
 - Allegro Hand
+- ANYmal B
 - Atlas
 - Baxter
 - Bolt

README.md

@@ -52,6 +52,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | A1                    | Unitree Robotics   | `a1_description`              |
 | Aliengo               | Unitree Robotics   | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics     | `allegro_hand_description`    |
+| ANYmal B              | ANYbotics          | `anymal_b_description`        |
 | Atlas                 | Boston Dynamics    | `atlas_description`           |
 | Baxter                | Rethink Robotics   | `baxter_description`          |
 | Bolt                  | ODRI               | `bolt_description`            |

robot_descriptions/_description_names.py

@@ -25,6 +25,7 @@
     "a1_description",
     "aliengo_description",
     "allegro_hand_description",
+    "anymal_b_description",
     "atlas_description",
     "baxter_description",
     "bolt_description",

robot_descriptions/_repositories.py

@@ -40,6 +40,11 @@ class Repository:
 
 
 REPOSITORIES = {
+    "anymal_b_simple_description": Repository(
+        url="https://github.com/ANYbotics/anymal_b_simple_description.git",
+        commit="988b5df22b84761bdf08111b1c2ccc883793f456",
+        cache_path="ANYbotics/anymal_b_simple_description",
+    ),
     "baxter_common": Repository(
         url="https://github.com/RethinkRobotics/baxter_common.git",
         commit="v1.2.0",

robot_descriptions/anymal_b_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.
+
+"""
+ANYmal B description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+__working_dir__ = _clone_to_cache("anymal_b_simple_description")
+
+PATH: str = _path.join(__working_dir__)
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "urdf", "anymal.urdf")