Add Unitree B2 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: Unitree B2
+
 ## [1.12.0] - 2024-08-08
 
 ### Added

README.md

@@ -258,6 +258,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `anymal_c_description`        | ANYmal C              | ANYbotics                | 12  | URDF       |
 | `anymal_c_mj_description`     | ANYmal C              | ANYbotics                | 12  | MJCF       |
 | `b1_description`              | B1                    | UNITREE Robotics         | 12  | URDF       |
+| `b2_description`              | B2                    | UNITREE Robotics         | 12  | URDF       |
 | `spot_mj_description`         | Spot                  | Boston Dynamics          | 12  | MJCF       |
 | `go1_description`             | Go1                   | UNITREE Robotics         | 12  | URDF       |
 | `go1_mj_description`          | Go1                   | UNITREE Robotics         | 12  | MJCF       |

robot_descriptions/_descriptions.py

@@ -62,6 +62,7 @@ def has_urdf(self) -> bool:
     "atlas_drc_description": Description(Format.URDF),
     "atlas_v4_description": Description(Format.URDF),
     "b1_description": Description(Format.URDF),
+    "b2_description": Description(Format.URDF),
     "barrett_hand_description": Description(Format.URDF),
     "baxter_description": Description(Format.URDF),
     "bolt_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -252,7 +252,7 @@ class Repository:
     ),
     "unitree_ros": Repository(
         url="https://github.com/unitreerobotics/unitree_ros.git",
-        commit="6a7a9609cebd853062f2182f97dcfbdb711cd61a",
+        commit="8bca7f8907bf6feceac80809ae67e4b379ab9cfc",
         cache_path="unitree_ros",
     ),
     "upkie_description": Repository(

robot_descriptions/b2_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""B2 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(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "b2_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "b2_description.urdf")