Add WL P311E description

Author: stephane-caron

CHANGELOG.md

@@ -14,6 +14,7 @@ All notable changes to this project will be documented in this file.
 - Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
 - Description: SO ARM 101 (URDF) (thanks to @haixuantao)
 - Description: WL P311D (URDF)
+- Description: WL P311E (URDF)
 
 ### Changed
 

README.md

@@ -306,6 +306,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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) |
+| `wl_p311e_description`        | WL P311E              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
 
 ## Contributing
 

robot_descriptions/_descriptions.py

@@ -229,6 +229,7 @@ def has_urdf(self) -> bool:
     "viper_mj_description": Description(Format.MJCF, tags={"arm"}),
     "widow_mj_description": Description(Format.MJCF, tags={"arm"}),
     "wl_p311d_description": Description(Format.URDF, tags={"quadruped"}),
+    "wl_p311e_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/wl_p311d_description.py

@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # SPDX-License-Identifier: Apache-2.0
-# Copyright 2022 Stéphane Caron
+# Copyright 2025 Inria
 
 """WL P311D description."""
 

robot_descriptions/wl_p311e_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""WL P311E 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_P311E")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")