Add Mini Cheetah description

Author: stephane-caron

CHANGELOG.md

@@ -25,6 +25,7 @@ All notable changes to this project will be documented in this file.
 - iiwa 14
 - JVRC-1
 - Laikago
+- Mini Cheetah
 - Minitaur
 - Panda
 - PR2

README.md

@@ -67,7 +67,8 @@ 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`         |
+| Laikago               | UNITREE Robotics   | `laikago_description`         |
+| Mini Cheetah          | MIT                | `mini_cheetah_description`    |
 | Minitaur              | Ghost Robotics     | `minitaur_description`        |
 | Panda                 | Franka Emika       | `panda_description`           |
 | PR2                   | Willow Garage      | `pr2_description`             |

robot_descriptions/_description_names.py

@@ -41,6 +41,7 @@
     "iiwa_description",
     "jvrc_description",
     "laikago_description",
+    "mini_cheetah_description",
     "minitaur_description",
     "panda_description",
     "pr2_description",

robot_descriptions/_repositories.py

@@ -90,6 +90,11 @@ class Repository:
         commit="v1.1.0",
         cache_path="stephane-caron/jvrc_description",
     ),
+    "mini_cheetah_urdf": Repository(
+        url="https://github.com/Derek-TH-Wang/mini_cheetah_urdf.git",
+        commit="1988bceb26e81f28594a16e7d5e6abe5cbb27ace",
+        cache_path="Derek-TH-Wang/mini_cheetah_urdf",
+    ),
     "reachy_description": Repository(
         url="https://github.com/aubrune/reachy_description.git",
         commit="release-1.0.0",

robot_descriptions/mini_cheetah_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("mini_cheetah_urdf")
+
+PATH: str = _path.join(__working_dir__)
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "urdf", "mini_cheetah.urdf")