Add ANYmal C description

Author: stephane-caron

CHANGELOG.md

@@ -10,6 +10,7 @@ All notable changes to this project will be documented in this file.
 - Aliengo
 - Allegro Hand
 - ANYmal B
+- ANYmal C
 - Atlas
 - Baxter
 - Bolt

README.md

@@ -53,6 +53,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | Aliengo               | Unitree Robotics   | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics     | `allegro_hand_description`    |
 | ANYmal B              | ANYbotics          | `anymal_b_description`        |
+| ANYmal C              | ANYbotics          | `anymal_c_description`        |
 | Atlas                 | Boston Dynamics    | `atlas_description`           |
 | Baxter                | Rethink Robotics   | `baxter_description`          |
 | Bolt                  | ODRI               | `bolt_description`            |

robot_descriptions/_description_names.py

@@ -26,6 +26,7 @@
     "aliengo_description",
     "allegro_hand_description",
     "anymal_b_description",
+    "anymal_c_description",
     "atlas_description",
     "baxter_description",
     "bolt_description",

robot_descriptions/_repositories.py

@@ -45,6 +45,11 @@ class Repository:
         commit="988b5df22b84761bdf08111b1c2ccc883793f456",
         cache_path="ANYbotics/anymal_b_simple_description",
     ),
+    "anymal_c_simple_description": Repository(
+        url="https://github.com/ANYbotics/anymal_c_simple_description.git",
+        commit="f160b8f7fed840c47a6febe8e2bc78b32bf43a68",
+        cache_path="ANYbotics/anymal_c_simple_description",
+    ),
     "baxter_common": Repository(
         url="https://github.com/RethinkRobotics/baxter_common.git",
         commit="v1.2.0",

robot_descriptions/anymal_c_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.
+
+"""
+ANYmal C description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+__working_dir__ = _clone_to_cache("anymal_c_simple_description")
+
+PATH: str = _path.join(__working_dir__)
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "urdf", "anymal.urdf")