Add Pepper description

Author: stephane-caron

CHANGELOG.md

@@ -14,6 +14,7 @@ All notable changes to this project will be documented in this file.
 - Description: Go1
 - Description: Laikago MJCF
 - Description: Panda MJCF
+- Description: Pepper
 - Description: Robotiq 2F-85
 - Description: Robotiq 2F-85 MJCF
 - Description: Shadow Hand MJCF

README.md

@@ -119,6 +119,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Minitaur              | Ghost Robotics           | URDF       | `minitaur_description`        |
 | Panda                 | Franka Emika             | URDF       | `panda_description`           |
 | Panda                 | Franka Emika             | MJCF       | `panda_mj_description`        |
+| Pepper                | SoftBank Robotics        | URDF       | `pepper_description`          |
 | PR2                   | Willow Garage            | URDF       | `pr2_description`             |
 | Reachy                | Pollen Robotics          | URDF       | `reachy_description`          |
 | Romeo                 | Aldebaran Robotics       | URDF       | `romeo_description`           |

robot_descriptions/_repositories.py

@@ -120,6 +120,11 @@ class Repository:
         commit="2665e9bc0f476e5f505ff929d758ed36f8618fa8",
         cache_path="deepmind/mujoco_menagerie",
     ),
+    "pepper_description": Repository(
+        url="https://github.com/jrl-umi3218/pepper_description.git",
+        commit="cd9715bb5df7ad57445d953db7b1924255305944",
+        cache_path="jrl-umi3218/pepper_description",
+    ),
     "reachy_description": Repository(
         url="https://github.com/aubrune/reachy_description.git",
         commit="release-1.0.0",

robot_descriptions/pepper_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.
+
+"""
+Pepper description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("pepper_description")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "pepper.urdf")