Add RBY1 and YAM URDFs

[uynitsuj]

Fixed the below pinocchio loading error, bumped rby1_description repo hash:

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  ERROR: test_rby1_description (test_pinocchio.TestPinocchio)
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  Traceback (most recent call last):
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/tests/loaders/test_pinocchio.py", line 32, in test
      load_robot_description(description)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/robot_descriptions/loaders/pinocchio.py", line 57, in load_robot_description
      robot = pin.RobotWrapper.BuildFromURDF(
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/robot_wrapper.py", line 20, in BuildFromURDF
      robot.initFromURDF(filename, *args, **kwargs)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/robot_wrapper.py", line 25, in initFromURDF
      model, collision_model, visual_model = buildModelsFromUrdf(
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/shortcuts.py", line 56, in buildModelsFromUrdf
      return _buildModelsFromUrdf(filename, **kwargs)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/shortcuts.py", line 72, in _buildModelsFromUrdf
      model = pin.buildModelFromUrdf(filename)
  ValueError: The file /home/runner/.cache/robot_descriptions/rby1_description/models/rby1a/urdf/model.urdf does not contain a valid URDF model.

[coveralls]

Pull Request Test Coverage Report for Build 16225294474

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Details

• 0 of 0 changed or added relevant lines in 0 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage remained the same at 98.096%

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Totals
Change from base Build 16225283070:	0.0%
Covered Lines:	1185
Relevant Lines:	1208

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💛 - Coveralls

[stephane-caron]

LGTM, thank you for adding these descriptions 👍