Add Cassie MJCF description

Author: stephane-caron

robot_descriptions/_description_names.py

@@ -32,6 +32,7 @@
     "baxter_description",
     "bolt_description",
     "cassie_description",
+    "cassie_mj_description",
     "cf2_description",
     "double_pendulum_description",
     "edo_description",

robot_descriptions/_repositories.py

@@ -70,6 +70,11 @@ class Repository:
         commit="96323f3d0cc2cb7101cb92d7fcf4650abdcb2e81",
         cache_path="UMich-BipedLab/cassie_description",
     ),
+    "cassie_mj_description": Repository(
+        url="https://github.com/rohanpsingh/cassie_mj_description.git",
+        commit="fcc3775453e4da6797cd4eacd3d8321d9906755a",
+        cache_path="rohanpsingh/cassie_mj_description",
+    ),
     "drake": Repository(
         url="https://github.com/RobotLocomotion/drake.git",
         commit="v1.7.0",

robot_descriptions/cassie_mj_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.
+
+"""
+Cassie MJCF description.
+"""
+
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache("cassie_mj_description")
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+MESHES_PATH: str = _path.join(PACKAGE_PATH, "meshes")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "cassie.xml")