Add AgileX PiPER description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: AgileX PiPER
 - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
 
 ## [1.14.0] - 2025-01-07

README.md

@@ -143,6 +143,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `iiwa7_description`           | iiwa 7                | KUKA                     | URDF       | MIT          |
 | `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          |
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | URDF       | GPL-3.0      |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | MJCF       | Apache-2.0   |
 | `so_arm100`                   | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |

robot_descriptions/_descriptions.py

@@ -107,6 +107,7 @@ def has_urdf(self) -> bool:
     "panda_description": Description(Format.URDF),
     "panda_mj_description": Description(Format.MJCF),
     "pepper_description": Description(Format.URDF),
+    "piper_description": Description(Format.URDF),
     "poppy_ergo_jr_description": Description(Format.URDF),
     "poppy_torso_description": Description(Format.URDF),
     "pr2_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -180,6 +180,11 @@ class Repository:
         commit="cd9715bb5df7ad57445d953db7b1924255305944",
         cache_path="pepper_description",
     ),
+    "Piper_ros": Repository(
+        url="https://github.com/agilexrobotics/Piper_ros.git",
+        commit="f2ec6a67e1f404bcb478529e89861ccdf43fa298",
+        cache_path="Piper_ros",
+    ),
     "poppy_ergo_jr_description": Repository(
         url="https://github.com/poppy-project/poppy_ergo_jr_description.git",
         commit="7eb32bd385afa11dea5e6a6b6a4a86a0243aaa2b",

robot_descriptions/piper_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""PiPER 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(
+    "Piper_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "src", "piper_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "piper_description.urdf")