Add Minitaur description

Author: stephane-caron

CHANGELOG.md

@@ -23,6 +23,7 @@ All notable changes to this project will be documented in this file.
 - iCub
 - iiwa 14
 - JVRC-1
+- Minitaur
 - Panda
 - PR2
 - Reachy

README.md

@@ -66,6 +66,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | iCub                  | IIT                | `icub_description`            |
 | iiwa                  | KUKA               | `iiwa_description`            |
 | JVRC-1                | AIST               | `jvrc_description`            |
+| Minitaur              | Ghost Robotics     | `minitaur_description`        |
 | Panda                 | Franka Emika       | `panda_description`           |
 | PR2                   | Willow Garage      | `pr2_description`             |
 | Reachy                | Pollen Robotics    | `reachy_description`          |

robot_descriptions/_description_names.py

@@ -39,6 +39,7 @@
     "icub_description",
     "iiwa_description",
     "jvrc_description",
+    "minitaur_description",
     "panda_description",
     "pr2_description",
     "reachy_description",

robot_descriptions/_repositories.py

@@ -55,6 +55,11 @@ class Repository:
         commit="v1.2.0",
         cache_path="RethinkRobotics/baxter_common",
     ),
+    "bullet3": Repository(
+        url="https://github.com/bulletphysics/bullet3.git",
+        commit="3.24",
+        cache_path="bulletphysics/bullet3",
+    ),
     "cassie_description": Repository(
         url="https://github.com/UMich-BipedLab/cassie_description.git",
         commit="96323f3d0cc2cb7101cb92d7fcf4650abdcb2e81",

robot_descriptions/minitaur_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.
+
+"""
+Minitaur description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+__working_dir__ = _clone_to_cache("bullet3")
+
+PATH: str = _path.join(__working_dir__, "data", "quadruped")
+
+MESHES_PATH: str = _path.join(PATH)
+
+URDF_PATH: str = _path.join(PATH, "minitaur.urdf")