Add NEXTAGE description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Kinova Gen3
+- Description: NEXTAGE
 
 ### Changed
 

README.md

@@ -137,6 +137,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Laikago               | UNITREE Robotics         | MJCF, URDF | `laikago_description`         |
 | Mini Cheetah          | MIT                      | URDF       | `mini_cheetah_description`    |
 | Minitaur              | Ghost Robotics           | URDF       | `minitaur_description`        |
+| NEXTAGE               | Kawada Robotics          | URDF       | `nextage_description`         |
 | Panda                 | Franka Emika             | MJCF       | `panda_mj_description`        |
 | Panda                 | Franka Emika             | URDF       | `panda_description`           |
 | Pepper                | SoftBank Robotics        | URDF       | `pepper_description`          |

robot_descriptions/__init__.py

@@ -19,4 +19,4 @@
 Import open source robot description as Python modules.
 """
 
-__version__ = "0.6.0"
+__version__ = "0.7.0rc0"

robot_descriptions/_descriptions.py

@@ -105,6 +105,7 @@ def has_urdf(self) -> bool:
     "laikago_description": Description(Format.URDF),
     "mini_cheetah_description": Description(Format.URDF),
     "minitaur_description": Description(Format.URDF),
+    "nextage_description": Description(Format.URDF),
     "panda_description": Description(Format.URDF),
     "panda_mj_description": Description(Format.MJCF),
     "pepper_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -186,6 +186,11 @@ class Repository:
         commit="0.1.5",
         cache_path="romeo_robot",
     ),
+    "rtmros_nextage": Repository(
+        url="https://github.com/tork-a/rtmros_nextage.git",
+        commit="ac270fb969fa54abeb6863f9b388a9e20c1f14e0",
+        cache_path="rtmros_nextage",
+    ),
     "simple_humanoid_description": Repository(
         url="https://github.com/laas/simple_humanoid_description.git",
         commit="v1.1.0",

robot_descriptions/nextage_description.py

@@ -0,0 +1,30 @@
+#!/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.
+
+"""
+NEXTAGE description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("rtmros_nextage")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "nextage_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "NextageOpen.urdf")