Fix Aliengo URDF source

- The source of aliengo URDF configuration. Previous URDF had duplicated floating base joints.

Author: Danfoa

robot_descriptions/aliengo_description.py

@@ -12,12 +12,12 @@
 from ._cache import clone_to_cache as _clone_to_cache
 
 REPOSITORY_PATH: str = _clone_to_cache(
-    "unitree_mujoco",
+    "unitree_ros",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
-
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "robots", "aliengo_description"
+)
 
 URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "aliengo.urdf")

robot_descriptions/aliengo_mj_description.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Aliengo description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_mujoco",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "aliengo.xml")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "aliengo.urdf")