Add Fetch URDF description

Author: stephane-caron

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 - Description: ANYmal B MJCF
 - Description: ANYmal C MJCF
+- Description: Fetch
 - Description: Go1
 - Description: Laikago MJCF
 - Description: Panda MJCF

README.md

@@ -103,6 +103,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Crazyflie 2.0         | Bitcraze                 | URDF       | `cf2_description`             |
 | Double Pendulum       | N/A                      | URDF       | `double_pendulum_description` |
 | e.DO                  | Comau                    | URDF       | `edo_description`             |
+| Fetch                 | Fetch Robotics           | URDF       | `fetch_description`           |
 | FingerEdu             | N/A                      | URDF       | `finger_edu_description`      |
 | Gen2                  | Kinova                   | URDF       | `gen2_description`            |
 | Go1                   | UNITREE Robotics         | MJCF, URDF | `go1_description`             |

robot_descriptions/_description_names.py

@@ -37,6 +37,7 @@
     "cf2_description",
     "double_pendulum_description",
     "edo_description",
+    "fetch_description",
     "finger_edu_description",
     "gen2_description",
     "go1_description",

robot_descriptions/fetch_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.
+
+"""
+Fetch description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("robot-assets")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "urdfs", "robots", "fetch")
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "robots", "fetch.urdf")