Add ANYmal D description

Author: stephane-caron

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 - Description: AgileX PiPER (MJCF)
 - Description: AgileX PiPER (URDF)
+- Description: ANYmal D
 - Description: Robot Soccer Kit
 - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
 - CLI: Add `show_in_meshcat` command

README.md

@@ -268,6 +268,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `anymal_b_mj_description`     | ANYmal B              | ANYbotics                | 12  | MJCF       |
 | `anymal_c_description`        | ANYmal C              | ANYbotics                | 12  | URDF       |
 | `anymal_c_mj_description`     | ANYmal C              | ANYbotics                | 12  | MJCF       |
+| `anymal_d_description`        | ANYmal D              | ANYbotics                | 12  | URDF       |
 | `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
 | `b2_description`              | B2                    | UNITREE Robotics         | 12  | URDF       |
 | `spot_mj_description`         | Spot                  | Boston Dynamics          | 12  | MJCF       |

robot_descriptions/_descriptions.py

@@ -59,6 +59,7 @@ def has_urdf(self) -> bool:
     "anymal_b_mj_description": Description(Format.MJCF),
     "anymal_c_description": Description(Format.URDF),
     "anymal_c_mj_description": Description(Format.MJCF),
+    "anymal_d_description": Description(Format.URDF),
     "atlas_drc_description": Description(Format.URDF),
     "atlas_v4_description": Description(Format.URDF),
     "b1_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -36,6 +36,11 @@ class Repository:
         commit="f160b8f7fed840c47a6febe8e2bc78b32bf43a68",
         cache_path="anymal_c_simple_description",
     ),
+    "anymal_d_simple_description": Repository(
+        url="https://github.com/ANYbotics/anymal_d_simple_description.git",
+        commit="6adc14720aab583613975e5a9d6d4fa3cfcdd081",
+        cache_path="anymal_d_simple_description",
+    ),
     "baxter_common": Repository(
         url="https://github.com/RethinkRobotics/baxter_common.git",
         commit="v1.2.0",

robot_descriptions/anymal_d_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""ANYmal D 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(
+    "anymal_d_simple_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "anymal.urdf")