Add Aliengo description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### New robot descriptions
 
 - A1
+- Aliengo
 - Allegro Hand
 - Atlas
 - Baxter

README.md

@@ -50,6 +50,7 @@ Available robot descriptions ([gallery](https://github.com/stephane-caron/awesom
 | Name                  | Maker              | Submodule                     |
 |-----------------------|--------------------| ------------------------------|
 | A1                    | Unitree Robotics   | `a1_description`              |
+| Aliengo               | Unitree Robotics   | `aliengo_description`         |
 | Allegro Hand          | Wonik Robotics     | `allegro_hand_description`    |
 | Atlas                 | Boston Dynamics    | `atlas_description`           |
 | Baxter                | Rethink Robotics   | `baxter_description`          |

robot_descriptions/_description_names.py

@@ -23,6 +23,7 @@
 
 DESCRIPTION_NAMES: List[str] = [
     "a1_description",
+    "aliengo_description",
     "allegro_hand_description",
     "atlas_description",
     "baxter_description",

robot_descriptions/aliengo_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", "aliengo_description")
+
+MESHES_PATH: str = _path.join(PATH, "meshes")
+
+URDF_PATH: str = _path.join(PATH, "urdf", "aliengo.urdf")