From 603140aa041613f4585903f2667f406e5d69b2d2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20Caron?= Date: Thu, 25 Apr 2024 12:06:31 +0200 Subject: [PATCH] Add KUKA iiwa 7 description --- CHANGELOG.md | 4 ++++ README.md | 5 +++-- robot_descriptions/_descriptions.py | 1 + robot_descriptions/iiwa7_description.py | 25 +++++++++++++++++++++++++ 4 files changed, 33 insertions(+), 2 deletions(-) create mode 100644 robot_descriptions/iiwa7_description.py diff --git a/CHANGELOG.md b/CHANGELOG.md index efcc7ef..4c1c1b8 100644 --- 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 index 5b49500..0e199ae 100644 --- 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 index d1fcbf2..dac2b67 100644 --- 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 new file mode 100644 index 0000000..110f765 --- /dev/null +++ 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")