Add Ginger description

Author: stephane-caron

CHANGELOG.md

@@ -6,10 +6,11 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Description: Atlas v4
 - Description: ANYmal B MJCF
 - Description: ANYmal C MJCF
+- Description: Atlas v4
 - Description: Fetch
+- Description: Ginger
 - Description: Go1
 - Description: Laikago MJCF
 - Description: Panda MJCF

README.md

@@ -107,6 +107,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Fetch                 | Fetch Robotics           | URDF       | `fetch_description`           |
 | FingerEdu             | N/A                      | URDF       | `finger_edu_description`      |
 | Gen2                  | Kinova                   | URDF       | `gen2_description`            |
+| Ginger                | Paaila Technology        | URDF       | `ginger_description`          |
 | Go1                   | UNITREE Robotics         | MJCF, URDF | `go1_description`             |
 | HyQ                   | IIT                      | URDF       | `hyq_description`             |
 | iCub                  | IIT                      | URDF       | `icub_description`            |

robot_descriptions/_repositories.py

@@ -85,6 +85,11 @@ class Repository:
         commit="v4.0.1",
         cache_path="Gepetto/example-robot-data",
     ),
+    "GingerURDF": Repository(
+        url="https://github.com/Rayckey/GingerURDF.git",
+        commit="6a1307cd0ee2b77c82f8839cdce3a2e2eed2bd8f",
+        cache_path="Rayckey/GingerURDF",
+    ),
     "gym-pybullet-drones": Repository(
         url="https://github.com/utiasDSL/gym-pybullet-drones.git",
         commit="v1.0.0",

robot_descriptions/ginger_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.
+
+"""
+Ginger description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("GingerURDF")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "gingerurdf.urdf")