Add B1 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: B1
+
 ### Changed
 
 - A1: use original URDF from Unitree

README.md

@@ -211,6 +211,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 |-------------------------------|-----------------------|--------------------------|-----|------------|
 | `a1_mj_description`           | A1                    | UNITREE Robotics         | 12  | MJCF       |
 | `a1_description`              | A1                    | UNITREE Robotics         | 12  | URDF       |
+| `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
 | `aliengo_description`         | Aliengo               | UNITREE Robotics         | 12  | MJCF, URDF |
 | `anymal_b_mj_description`     | ANYmal B              | ANYbotics                | 12  | MJCF       |
 | `anymal_b_description`        | ANYmal B              | ANYbotics                | 12  | URDF       |

robot_descriptions/_descriptions.py

@@ -81,6 +81,7 @@ def has_urdf(self) -> bool:
     "anymal_c_mj_description": Description(Format.MJCF),
     "atlas_drc_description": Description(Format.URDF),
     "atlas_v4_description": Description(Format.URDF),
+    "b1_description": Description(Format.URDF),
     "barrett_hand_description": Description(Format.URDF),
     "baxter_description": Description(Format.URDF),
     "bolt_description": Description(Format.URDF),

robot_descriptions/b1_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.
+
+"""
+B1 description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("unitree_ros")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "b1_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "b1.urdf")