Add NAO description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: NAO
 - Description: Robonaut 2
 - Description: Valkyrie
 - Loader: MuJoCo

README.md

@@ -126,6 +126,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | Laikago               | UNITREE Robotics         | MJCF, URDF | `laikago_description`         |
 | Mini Cheetah          | MIT                      | URDF       | `mini_cheetah_description`    |
 | Minitaur              | Ghost Robotics           | URDF       | `minitaur_description`        |
+| NAO                   | SoftBank Robotics        | URDF       | `nao_description`             |
 | Panda                 | Franka Emika             | MJCF       | `panda_mj_description`        |
 | Panda                 | Franka Emika             | URDF       | `panda_description`           |
 | Pepper                | SoftBank Robotics        | URDF       | `pepper_description`          |

robot_descriptions/_descriptions.py

@@ -102,6 +102,7 @@ def has_urdf(self) -> bool:
     "laikago_description": Description(Format.URDF),
     "mini_cheetah_description": Description(Format.URDF),
     "minitaur_description": Description(Format.URDF),
+    "nao_description": Description(Format.URDF),
     "panda_description": Description(Format.URDF),
     "panda_mj_description": Description(Format.MJCF),
     "pepper_description": Description(Format.URDF),

robot_descriptions/_repositories.py

@@ -121,6 +121,11 @@ class Repository:
         commit="2665e9bc0f476e5f505ff929d758ed36f8618fa8",
         cache_path="mujoco_menagerie",
     ),
+    "nao_robot": Repository(
+        url="https://github.com/ros-naoqi/nao_robot.git",
+        commit="67476469a1371b00b17538eb6ea336367ece7d44",
+        cache_path="nao_robot",
+    ),
     "nasa-urdf-robots": Repository(
         url="https://github.com/gkjohnson/nasa-urdf-robots.git",
         commit="54cdeb1dbfb529b79ae3185a53e24fce26e1b74b",

robot_descriptions/nao_description.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+NAO description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("nao_robot")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "nao_description")
+
+URDF_PATH: str = _path.join(
+    PACKAGE_PATH, "urdf", "naoV50_generated_urdf", "nao.urdf"
+)
+
+# Description-specific paths
+
+URDF_PATH_V32: str = _path.join(
+    PACKAGE_PATH, "urdf", "naoV32_generated_urdf", "nao.urdf"
+)
+
+URDF_PATH_V33: str = _path.join(
+    PACKAGE_PATH, "urdf", "naoV33_generated_urdf", "nao.urdf"
+)
+
+URDF_PATH_V40: str = _path.join(
+    PACKAGE_PATH, "urdf", "naoV40_generated_urdf", "nao.urdf"
+)
+
+URDF_PATH_V50: str = _path.join(
+    PACKAGE_PATH, "urdf", "naoV50_generated_urdf", "nao.urdf"
+)