Add WL P311D description

Author: stephane-caron

CHANGELOG.md

@@ -13,6 +13,7 @@ All notable changes to this project will be documented in this file.
 - Description: Fourier GR-1 (URDF)
 - Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
 - Description: SO ARM 101 (URDF) (thanks to @haixuantao)
+- Description: WL P311D (URDF)
 
 ### Changed
 

README.md

@@ -305,6 +305,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `rsk_description`             | RSK Omnidirectional   | Robot Soccer Kit         | URDF       | MIT     |
 | `rsk_mj_description`          | RSK Omnidirectional   | Robot Soccer Kit         | MJCF       | MIT     |
 | `upkie_description`           | Upkie                 | Stéphane Caron           | URDF       | Apache-2.0 |
+| `wl_p311d_description`        | WL P311D              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
 
 ## Contributing
 

robot_descriptions/_descriptions.py

@@ -228,6 +228,7 @@ def has_urdf(self) -> bool:
     "valkyrie_description": Description(Format.URDF, tags={"humanoid"}),
     "viper_mj_description": Description(Format.MJCF, tags={"arm"}),
     "widow_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "wl_p311d_description": Description(Format.URDF, tags={"quadruped"}),
     "xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yam_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),

robot_descriptions/_repositories.py

@@ -180,6 +180,11 @@ class Repository:
         commit="cee556b0a438e6904634a90826d4e8d2e005cd1f",
         cache_path="kinova_mj_description",
     ),
+    "limxdynamics_robot-description": Repository(
+        url="https://github.com/limxdynamics/robot-description.git",
+        commit="a097533372a08298d45af391cbdfc2fd2dc3da6f",
+        cache_path="limxdynamics_robot-description",
+    ),
     "mini_cheetah_urdf": Repository(
         url="https://github.com/Derek-TH-Wang/mini_cheetah_urdf.git",
         commit="1988bceb26e81f28594a16e7d5e6abe5cbb27ace",

robot_descriptions/wl_p311d_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""WL P311D 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(
+    "limxdynamics_robot-description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "wheellegged", "WL_P311D")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")