Add KUKA iiwa 7 description

robot-descriptions · Apr 25, 2024 · 603140a · 603140a
1 parent 667742f
commit 603140a
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Showing 4 changed files with 33 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: KUKA iiwa 7 (URDF)
+
 ## [1.10.0] - 2024-04-24
 
 ### Added

diff --git a/README.md b/README.md
@@ -136,8 +136,9 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `gen2_description`            | Gen2 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
-| `iiwa_description`            | iiwa                  | KUKA                     | 7   | URDF       |
-| `iiwa_mj_description`         | iiwa14                | KUKA                     | 7   | MJCF       |
+| `iiwa7_description`           | iiwa 7                | KUKA                     | 7   | URDF       |
+| `iiwa_description`            | iiwa 14               | KUKA                     | 7   | URDF       |
+| `iiwa_mj_description`         | iiwa 14               | KUKA                     | 7   | MJCF       |
 | `panda_description`           | Panda                 | Franka Emika             | 8   | URDF       |
 | `panda_mj_description`        | Panda                 | Franka Emika             | 8   | MJCF       |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | 6   | URDF       |

diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
@@ -87,6 +87,7 @@ def has_urdf(self) -> bool:
     "h1_mj_description": Description(Format.MJCF),
     "hyq_description": Description(Format.URDF),
     "icub_description": Description(Format.URDF),
+    "iiwa7_description": Description(Format.URDF),
     "iiwa_description": Description(Format.URDF),
     "iiwa_mj_description": Description(Format.MJCF),
     "jaxon_description": Description(Format.URDF),

diff --git a/robot_descriptions/iiwa7_description.py b/robot_descriptions/iiwa7_description.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""iiwa 7 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(
+    "differentiable-robot-model",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "diff_robot_data", "kuka_iiwa")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "iiwa7.urdf")
+
+# Description-specific paths
+
+URDF_PATH_ALLEGRO: str = _path.join(PACKAGE_PATH, "urdf", "iiwa7_allegro.urdf")