Revert iiwa14_description to old drake repository

The commit with obj mesh files for the iiwa description does not come
with the corresponding URDF, so this description will stick to the
pinned Drake repository for now.

Author: stephane-caron

robot_descriptions/_repositories.py

@@ -73,14 +73,14 @@ class Repository:
     ),
     "drake": Repository(
         url="https://github.com/RobotLocomotion/drake.git",
-        commit="v1.7.0",
+        commit="7abea0556ede980a5077fe1a8cfbae59b57c7c27",
         cache_path="drake",
     ),
     "drake_models": Repository(
         url="https://github.com/RobotLocomotion/models.git",
-        # From 9b274a2570ddefc4140e4b98bcf248003289b870 onward, obj mesh files
-        # converted to glTF in drake_models don't work with PyBullet ("invalid
-        # mesh filename extension 'gltf'")
+        # NB: from 9b274a2570ddefc4140e4b98bcf248003289b870 onward, obj meshes
+        # for the iiwa14_description are converted to glTF in this repo, which
+        # PyBullet does not load ("invalid mesh filename extension 'gltf'")
         commit="d0fe1a427a6bd39040ff3a77aaf6ddcc4d62a8fe",
         cache_path="drake_models",
     ),

robot_descriptions/iiwa14_description.py

@@ -12,11 +12,13 @@
 from ._cache import clone_to_cache as _clone_to_cache
 
 REPOSITORY_PATH: str = _clone_to_cache(
-    "drake_models",
+    "drake",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "iiwa_description")
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "manipulation", "models", "iiwa_description"
+)
 
 URDF_PATH: str = _path.join(
     PACKAGE_PATH, "urdf", "iiwa14_primitive_collision.urdf"