Add HyQ description

Author: stephane-caron

CHANGELOG.md

@@ -20,6 +20,7 @@ All notable changes to this project will be documented in this file.
 - e.DO
 - FingerEdu
 - Gen2
+- HyQ
 - iCub
 - iiwa 14
 - JVRC-1

README.md

@@ -63,6 +63,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | e.DO                  | Comau              | `edo_description`             |
 | FingerEdu             | N/A                | `finger_edu_description`      |
 | Gen2                  | Kinova             | `gen2_description`            |
+| HyQ                   | IIT                | `hyq_description`             |
 | iCub                  | IIT                | `icub_description`            |
 | iiwa                  | KUKA               | `iiwa_description`            |
 | JVRC-1                | AIST               | `jvrc_description`            |

robot_descriptions/_description_names.py

@@ -36,6 +36,7 @@
     "edo_description",
     "finger_edu_description",
     "gen2_description",
+    "hyq_description",
     "icub_description",
     "iiwa_description",
     "jvrc_description",

robot_descriptions/hyq_description.py

@@ -0,0 +1,32 @@
+#!/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.
+
+"""
+Aliengo description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+__working_dir__ = _clone_to_cache("example-robot-data")
+
+PATH: str = _path.join(__working_dir__, "robots", "hyq_description")
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "robots", "hyq_no_sensor.urdf")