Add Kinova Gen3 Lite description

Author: stephane-caron

CHANGELOG.md

@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: Kinova Gen3 Lite (URDF)
+
 ### Changed
 
 - Update `baxter_common` repository with a commit ID rather than a tag

README.md

@@ -140,6 +140,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `fr3_mj_description`          | FR3                   | Franka Robotics          | MJCF       | Apache-2.0   |
 | `gen2_description`            | Gen2                  | Kinova                   | URDF       | BSD-3-Clause |
 | `gen3_description`            | Gen3                  | Kinova                   | URDF       | MIT          |
+| `gen3_lite_description`       | Gen3 Lite             | Kinova                   | URDF       | BSD-3-Clause |
 | `gen3_mj_description`         | Gen3                  | Kinova                   | MJCF       | BSD-2-Clause |
 | `iiwa14_description`          | iiwa 14               | KUKA                     | URDF       | BSD-3-Clause |
 | `iiwa14_mj_description`       | iiwa 14               | KUKA                     | MJCF       | BSD-3-Clause |

robot_descriptions/_descriptions.py

@@ -109,6 +109,7 @@ def has_urdf(self) -> bool:
     "g1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "gen2_description": Description(Format.URDF, tags={"arm"}),
     "gen3_description": Description(Format.URDF, tags={"arm"}),
+    "gen3_lite_description": Description(Format.URDF, tags={"arm"}),
     "gen3_mj_description": Description(Format.MJCF, tags={"arm"}),
     "ginger_description": Description(
         Format.URDF, tags={"mobile_manipulator"}

robot_descriptions/_repositories.py

@@ -245,6 +245,11 @@ class Repository:
         commit="0.1.5",
         cache_path="romeo_robot",
     ),
+    "ros2_kortex": Repository(
+        url="https://github.com/Kinovarobotics/ros2_kortex.git",
+        commit="fb633aacf9c1c85d61a96c1099b5afa3d533e5a3",
+        cache_path="ros2_kortex",
+    ),
     "rtmros_nextage": Repository(
         url="https://github.com/tork-a/rtmros_nextage.git",
         commit="ac270fb969fa54abeb6863f9b388a9e20c1f14e0",

robot_descriptions/gen3_lite_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""Kinova Gen3 Lite 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(
+    "ros2_kortex",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "kortex_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "robots", "gen3_lite.urdf")