Add Laikago description

Author: stephane-caron

CHANGELOG.md

@@ -24,6 +24,7 @@ All notable changes to this project will be documented in this file.
 - iCub
 - iiwa 14
 - JVRC-1
+- Laikago
 - Minitaur
 - Panda
 - PR2

README.md

@@ -49,8 +49,8 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 
 | Name                  | Maker              | Submodule                     |
 |-----------------------|--------------------| ------------------------------|
-| A1                    | Unitree Robotics   | `a1_description`              |
-| Aliengo               | Unitree Robotics   | `aliengo_description`         |
+| A1                    | UNITREE Robotics   | `a1_description`              |
+| Aliengo               | UNITREE Robotics   | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics     | `allegro_hand_description`    |
 | ANYmal B              | ANYbotics          | `anymal_b_description`        |
 | ANYmal C              | ANYbotics          | `anymal_c_description`        |
@@ -67,6 +67,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | iCub                  | IIT                | `icub_description`            |
 | iiwa                  | KUKA               | `iiwa_description`            |
 | JVRC-1                | AIST               | `jvrc_description`            |
+| Laikago               | UNITREE Robotics   | `laikago_descriptoin`         |
 | Minitaur              | Ghost Robotics     | `minitaur_description`        |
 | Panda                 | Franka Emika       | `panda_description`           |
 | PR2                   | Willow Garage      | `pr2_description`             |

robot_descriptions/_description_names.py

@@ -40,6 +40,7 @@
     "icub_description",
     "iiwa_description",
     "jvrc_description",
+    "laikago_description",
     "minitaur_description",
     "panda_description",
     "pr2_description",

robot_descriptions/hyq_description.py

@@ -16,7 +16,7 @@
 # limitations under the License.
 
 """
-Aliengo description.
+HyQ description.
 """
 
 from os import path as _path

robot_descriptions/laikago_description.py

@@ -0,0 +1,32 @@
+#!/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.
+
+"""
+Aliengo description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+__working_dir__ = _clone_to_cache("unitree_ros")
+
+PATH: str = _path.join(__working_dir__, "robots", "laikago_description")
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "urdf", "laikago.urdf")