Add Stretch RE1 description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - Description: Rhea
+- Description: Stretch
 - Frame selector in URDF frame display example
 - README: Conda installation instructions
 

README.md

@@ -211,6 +211,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `pepper_description`          | Pepper                | SoftBank Robotics        | 17  | URDF       |
 | `pr2_description`             | PR2                   | Willow Garage            | 32  | URDF       |
 | `reachy_description`          | Reachy                | Pollen Robotics          | 21  | URDF       |
+| `stretch_description`         | Stretch RE1           | Hello Robot              | 14  | URDF       |
 | `tiago_description`           | TIAGo                 | PAL Robotics             | 48  | URDF       |
 
 ### Quadrupeds

robot_descriptions/_descriptions.py

@@ -114,6 +114,7 @@ def has_urdf(self) -> bool:
     "simple_humanoid_description": Description(Format.URDF),
     "solo_description": Description(Format.URDF),
     "spryped_description": Description(Format.URDF),
+    "stretch_description": Description(Format.URDF),
     "talos_description": Description(Format.URDF),
     "tiago_description": Description(Format.URDF),
     "upkie_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -222,6 +222,11 @@ class Repository:
         commit="f360a6b78667a4d97c86cad465ef8f4c9512462b",
         cache_path="spryped",
     ),
+    "stretch_description": Repository(
+        url="https://github.com/robot-descriptions/stretch_description.git",
+        commit="d9a614f8572d5a73f78a7f358107233c40a78b13",
+        cache_path="stretch_description",
+    ),
     "talos-data": Repository(
         url="https://github.com/stack-of-tasks/talos-data.git",
         commit="v2.0.0",

robot_descriptions/stretch_description.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2023 Inria
+#
+# 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.
+
+"""Stretch RE1 description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "stretch_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "stretch.urdf")