Add quadruped tags to descriptions

Author: stephane-caron

robot_descriptions/_descriptions.py

@@ -51,25 +51,25 @@ def has_urdf(self) -> bool:
 
 
 DESCRIPTIONS: Dict[str, Description] = {
-    "a1_description": Description(Format.URDF),
-    "a1_mj_description": Description(Format.MJCF),
+    "a1_description": Description(Format.URDF, tags={"quadruped"}),
+    "a1_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "ability_hand_description": Description(Format.URDF),
     "ability_hand_mj_description": Description(Format.MJCF),
-    "aliengo_description": Description(Format.URDF),
-    "aliengo_mj_description": Description(Format.MJCF),
+    "aliengo_description": Description(Format.URDF, tags={"quadruped"}),
+    "aliengo_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "allegro_hand_description": Description(Format.URDF),
     "allegro_hand_mj_description": Description(Format.MJCF),
     "aloha_mj_description": Description(Format.MJCF),
-    "anymal_b_description": Description(Format.URDF),
-    "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),
+    "anymal_b_description": Description(Format.URDF, tags={"quadruped"}),
+    "anymal_b_mj_description": Description(Format.MJCF, tags={"quadruped"}),
+    "anymal_c_description": Description(Format.URDF, tags={"quadruped"}),
+    "anymal_c_mj_description": Description(Format.MJCF, tags={"quadruped"}),
+    "anymal_d_description": Description(Format.URDF, tags={"quadruped"}),
     "apollo_mj_description": Description(Format.MJCF),
     "atlas_drc_description": Description(Format.URDF),
     "atlas_v4_description": Description(Format.URDF),
-    "b1_description": Description(Format.URDF),
-    "b2_description": Description(Format.URDF),
+    "b1_description": Description(Format.URDF, tags={"quadruped"}),
+    "b2_description": Description(Format.URDF, tags={"quadruped"}),
     "barrett_hand_description": Description(Format.URDF),
     "baxter_description": Description(Format.URDF),
     "berkeley_humanoid_description": Description(Format.URDF),
@@ -93,24 +93,26 @@ def has_urdf(self) -> bool:
     "gen3_description": Description(Format.URDF),
     "gen3_mj_description": Description(Format.MJCF),
     "ginger_description": Description(Format.URDF),
-    "go1_description": Description(Format.URDF),
-    "go1_mj_description": Description(Format.MJCF),
+    "go1_description": Description(Format.URDF, tags={"quadruped"}),
+    "go1_mj_description": Description(Format.MJCF, tags={"quadruped"}),
+    "go2_description": Description(Format.URDF, tags={"quadruped"}),
+    "go2_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "g1_description": Description(Format.URDF),
     "h1_description": Description(Format.URDF),
     "h1_mj_description": Description(Format.MJCF),
-    "hyq_description": Description(Format.URDF),
+    "hyq_description": Description(Format.URDF, tags={"quadruped"}),
     "icub_description": Description(Format.URDF),
     "iiwa7_description": Description(Format.URDF),
     "iiwa14_description": Description(Format.URDF),
     "iiwa14_mj_description": Description(Format.MJCF),
     "jaxon_description": Description(Format.URDF),
     "jvrc_description": Description(Format.URDF),
     "jvrc_mj_description": Description(Format.MJCF),
-    "laikago_description": Description(Format.URDF),
+    "laikago_description": Description(Format.URDF, tags={"quadruped"}),
     "leap_hand_v1": Description(Format.URDF),
     "leap_hand_mj_description": Description(Format.MJCF),
-    "mini_cheetah_description": Description(Format.URDF),
-    "minitaur_description": Description(Format.URDF),
+    "mini_cheetah_description": Description(Format.URDF, tags={"quadruped"}),
+    "minitaur_description": Description(Format.URDF, tags={"quadruped"}),
     "nextage_description": Description(Format.URDF),
     "op3_mj_description": Description(Format.MJCF),
     "panda_description": Description(Format.URDF),