Add Z1 description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: B1
+- Description: Z1
 
 ### Changed
 

README.md

@@ -133,6 +133,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
 | `ur5_description`             | UR5                   | Universal Robots         | 6   | URDF       |
 | `ur5e_mj_description`         | UR5e                  | Universal Robots         | 6   | MJCF       |
+| `z1_description`              | Z1                    | UNITREE Robotics         | 6  | URDF       |
 
 ### Bipeds
 

robot_descriptions/_descriptions.py

@@ -132,4 +132,5 @@ def has_urdf(self) -> bool:
     "ur5e_mj_description": Description(Format.MJCF),
     "valkyrie_description": Description(Format.URDF),
     "yumi_description": Description(Format.URDF),
+    "z1_description": Description(Format.URDF),
 }

robot_descriptions/z1_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.
+
+"""
+Z1 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", "z1_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "xacro", "z1.urdf")