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WIP: feat: add Atlas description

Open lvjonok opened this issue 2 years ago • 5 comments

This PR adds an Atlas description. I attempted to follow contribution guidelines, in README.md you can find notes on the process of converting URDF to MuJoCo.

What help I am needed:

  • licence: I have used URDF from drake project. So, probably the licence should be copied from there, but I am unaware.
  • textures: I have found another URDF description of Atlas which also contained textures and .dae files. My attempt was to use drake textures and add them to .xml using mapping (which .obj should use which textures) from .dae files. I have added an example of textures loading to utorso mesh because it will be more convenient to try for others.

lvjonok avatar Oct 03 '23 07:10 lvjonok

Thanks for your pull request! It looks like this may be your first contribution to a Google open source project. Before we can look at your pull request, you'll need to sign a Contributor License Agreement (CLA).

View this failed invocation of the CLA check for more information.

For the most up to date status, view the checks section at the bottom of the pull request.

google-cla[bot] avatar Oct 03 '23 07:10 google-cla[bot]

Regarding the license, it looks like it's a 3-clause BSD license so we can accept it. You can just copy paste that license verbatim.

kevinzakka avatar Oct 03 '23 19:10 kevinzakka

Hello! When I could expect any further feedback or suggestions regarding textures mapping?

lvjonok avatar Oct 13 '23 13:10 lvjonok

Hi, can you please clarify the issue with the textures? I find the item in the OP regarding this issue quite unclear.

yuvaltassa avatar Oct 13 '23 14:10 yuvaltassa

Hi, can you please clarify the issue with the textures? I find the item in the OP regarding this issue quite unclear.

In the original repository there are .DAE files with textures. I took as example utorso body and tried to apply textures I have found in .dae file.

  1. The first question I have is can I add two textures to one body? In the corresponding .dae file I see that it loads two .jpg files.
  2. The next question is how to actually understand parameters for the material component based on .dae file. Do I have to add some external parameters based on original mesh file?

That is why I have added the scene textures.xml which one can load and check that textures are loaded correctly.

lvjonok avatar Oct 13 '23 18:10 lvjonok

Hi @lvjonok, the licensing is impossible to trace for this model and it looks like the Drake URL you linked is no longer valid. I'm going to go ahead and close this PR for now since the licensing / tracing of Atlas is a little foggy.

kevinzakka avatar Sep 07 '24 18:09 kevinzakka