adding low cost robot arm (koch v1.1) URDF

CHANGELOG.md

@@ -3,6 +3,7 @@
 All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
+- Description: Low Cost Robot Arm (Koch v1.1) (URDF)
 
 - Description RBY1 Mobile Manipulatior (URDF) (thanks to @uynitsuj)
 - Description YAM (MJCF) (thanks to @uynitsuj)

README.md

@@ -142,7 +142,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `iiwa14_description`          | iiwa 14               | KUKA                     | URDF       | BSD-3-Clause |
 | `iiwa14_mj_description`       | iiwa 14               | KUKA                     | MJCF       | BSD-3-Clause |
 | `iiwa7_description`           | iiwa 7                | KUKA                     | URDF       | MIT          |
-| `low_cost_robot_arm_mj_description` | Low-cost robot arm | Alexander Koch | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/ef4d04fbb7451d30b39c2aff7e49df737bb46815/low_cost_robot_arm/LICENSE) |
+| `low_cost_robot_arm_description` | Low-cost robot arm (Koch v1.1) | Alexander Koch | URDF | [Apache-2.0](https://github.com/s1lent4gnt/koch-v1-1/blob/cc1a4eb9b27978b6bc3bb34f12fa5a7d229f1fde/LICENSE) |
+| `low_cost_robot_arm_mj_description` | Low-cost robot arm (Koch v1.1) | Alexander Koch | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/ef4d04fbb7451d30b39c2aff7e49df737bb46815/low_cost_robot_arm/LICENSE) |
 | `panda_description`           | Panda                 | Franka Robotics          | URDF       | Apache-2.0   |
 | `panda_mj_description`        | Panda                 | Franka Robotics          | MJCF       | Apache-2.0   |
 | `piper_description`           | PiPER                 | AgileX                   | URDF       | MIT          |

robot_descriptions/_descriptions.py

@@ -146,6 +146,9 @@ def has_urdf(self) -> bool:
     "leap_hand_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
+    "low_cost_robot_arm_description": Description(
+        Format.URDF, tags={"arm"}
+    ),
     "low_cost_robot_arm_mj_description": Description(
         Format.MJCF, tags={"arm"}
     ),

robot_descriptions/_repositories.py

@@ -185,6 +185,12 @@ class Repository:
         commit="cee556b0a438e6904634a90826d4e8d2e005cd1f",
         cache_path="kinova_mj_description",
     ),
+    "koch-v1-1": Repository(
+        url="https://github.com/s1lent4gnt/koch-v1-1.git",
+        commit="cc1a4eb9b27978b6bc3bb34f12fa5a7d229f1fde",
+        cache_path="koch_description"
+
+    ),
     "limxdynamics_robot-description": Repository(
         url="https://github.com/limxdynamics/robot-description.git",
         commit="a097533372a08298d45af391cbdfc2fd2dc3da6f",

robot_descriptions/low_cost_robot_arm_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Low Cost Robot Arm (Koch v1.1) URDF 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(
+    "koch-v1-1",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "simulation/")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "follower.urdf")