Add Atlas v4 description

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Atlas v4
 - Description: ANYmal B MJCF
 - Description: ANYmal C MJCF
 - Description: Fetch
@@ -22,6 +23,7 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - Merge MJCF and URDF descriptions for Aliengo
+- Renamed former "Atlas" description to "Atlas DRC"
 - Switch to a dual MJCF/URDF descriptions for A1
 
 ## [0.2.0] - 2022/09/07

README.md

@@ -91,15 +91,16 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 | A1                    | UNITREE Robotics         | MJCF, URDF | `a1_description`              |
 | Aliengo               | UNITREE Robotics         | MJCF, URDF | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics           | URDF       | `allegro_hand_description`    |
-| ANYmal B              | ANYbotics                | URDF       | `anymal_b_description`        |
 | ANYmal B              | ANYbotics                | MJCF       | `anymal_b_mj_description`     |
-| ANYmal C              | ANYbotics                | URDF       | `anymal_c_description`        |
+| ANYmal B              | ANYbotics                | URDF       | `anymal_b_description`        |
 | ANYmal C              | ANYbotics                | MJCF       | `anymal_c_mj_description`     |
-| Atlas                 | Boston Dynamics          | URDF       | `atlas_description`           |
+| ANYmal C              | ANYbotics                | URDF       | `anymal_c_description`        |
+| Atlas DRC (v3)        | Boston Dynamics          | URDF       | `atlas_drc_description`       |
+| Atlas v4              | Boston Dynamics          | URDF       | `atlas_v4_description`        |
 | Baxter                | Rethink Robotics         | URDF       | `baxter_description`          |
 | Bolt                  | ODRI                     | URDF       | `bolt_description`            |
-| Cassie                | Agility Robotics         | URDF       | `cassie_description`          |
 | Cassie                | Agility Robotics         | MJCF       | `cassie_mj_description`       |
+| Cassie                | Agility Robotics         | URDF       | `cassie_description`          |
 | Crazyflie 2.0         | Bitcraze                 | URDF       | `cf2_description`             |
 | Double Pendulum       | N/A                      | URDF       | `double_pendulum_description` |
 | e.DO                  | Comau                    | URDF       | `edo_description`             |

robot_descriptions/_description_names.py

@@ -29,7 +29,8 @@
     "anymal_b_mj_description",
     "anymal_c_description",
     "anymal_c_mj_description",
-    "atlas_description",
+    "atlas_drc_description",
+    "atlas_v4_description",
     "baxter_description",
     "bolt_description",
     "cassie_description",

robot_descriptions/_repositories.py

@@ -125,6 +125,11 @@ class Repository:
         commit="12f1a3c89c9975194551afaed0dfae1e09fdb27c",
         cache_path="ankurhanda/robot-assets",
     ),
+    "roboschool": Repository(
+        url="https://github.com/openai/roboschool.git",
+        commit="1.0.49",
+        cache_path="openai/roboschool",
+    ),
     "robotiq_arg85_description": Repository(
         url="https://github.com/a-price/robotiq_arg85_description.git",
         commit="a65190bdbb0666609fe7e8c3bb17341e09e81625",

robot_descriptions/atlas_description.py renamed to robot_descriptions/atlas_drc_description.py

@@ -16,7 +16,7 @@
 # limitations under the License.
 
 """
-Atlas description.
+Atlas DRC (v3) description.
 """
 
 from os import path as _path

robot_descriptions/atlas_v4_description.py

@@ -0,0 +1,47 @@
+#!/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.
+
+"""
+Atlas v4 description.
+"""
+
+from os import path as _path
+from typing import List
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("roboschool")
+
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "roboschool", "models_robot", "atlas_description"
+)
+
+MESH_PATHS: List[str] = [
+    _path.join(PACKAGE_PATH, "meshes_v3"),
+    _path.join(PACKAGE_PATH, "meshes_unplugged"),
+    _path.join(
+        REPOSITORY_PATH,
+        "roboschool",
+        "models_robot",
+        "multisense_sl_description",
+        "meshes",
+    ),
+]
+
+URDF_PATH: str = _path.join(
+    PACKAGE_PATH, "urdf", "atlas_v4_with_multisense.urdf"
+)