Add KUKA iiwa 7 description

robot-descriptions · Apr 25, 2024 · ae0492e · ae0492e
1 parent 667742f
commit ae0492e
Show file tree

Hide file tree

Showing 3 changed files with 8 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),