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+# MIT Mini Cheetah URDF Tutorial
+
+## Overview
+This tutorial demonstrates serving a URDF (Unified Robot Description Format) file locally to visualize the MIT Mini Cheetah robot in Vuer with animated leg movements.
+
+## Directory Structure
+
+Set up your assets directory:
+
+```
+assets/mini_cheetah/
+├── meshes/
+│   ├── mini_abad.obj
+│   ├── mini_body.obj
+│   ├── mini_lower_link.obj
+│   └── mini_upper_link.obj
+└── mini_cheetah.urdf
+```
+
+## Download Assets
+
+Use wget to fetch the URDF and mesh files:
+
+```bash
+mkdir -p assets/mini_cheetah/meshes
+cd assets/mini_cheetah
+
+# Download URDF file
+wget https://raw.githubusercontent.com/vuer-ai/vuer/main/assets/mini_cheetah/mini_cheetah.urdf
+
+# Download mesh files
+cd meshes
+wget https://raw.githubusercontent.com/vuer-ai/vuer/main/assets/mini_cheetah/meshes/mini_abad.obj
+wget https://raw.githubusercontent.com/vuer-ai/vuer/main/assets/mini_cheetah/meshes/mini_body.obj
+wget https://raw.githubusercontent.com/vuer-ai/vuer/main/assets/mini_cheetah/meshes/mini_lower_link.obj
+wget https://raw.githubusercontent.com/vuer-ai/vuer/main/assets/mini_cheetah/meshes/mini_upper_link.obj
+```
+
+## Complete Code Example
+
+```python
+import math
+import asyncio
+from vuer import Vuer
+from vuer.schemas import Scene, Urdf, AmbientLight, Movable, PointLight
+
+# Configure app to serve static files from assets directory
+app = Vuer(static_root="assets/mini_cheetah")
+
+@app.spawn(start=True)
+async def main(session):
+    # Setup scene with lighting
+    session.set @ Scene(
+        AmbientLight(intensity=0.8),
+        Movable(
+            PointLight(
+                intensity=2.0,
+                position=[1, 2, 1],
+                key="point-light-1",
+            )
+        ),
+        Movable(
+            PointLight(
+                intensity=2.0,
+                position=[-1, 2, -1],
+                key="point-light-2",
+            )
+        ),
+    )
+
+    # Animation loop
+    for i in range(1000):
+        # Calculate joint angles using sine waves
+        hip_angle = 0.5 * math.sin(i * 0.1)
+        thigh_angle = 0.785 - 0.25 * math.sin(i * 0.1)
+        calf_angle = -1.5 + 0.5 * math.sin(i * 0.1)
+
+        # Update robot with animated joints
+        session.upsert @ Urdf(
+            src="/static/mini_cheetah.urdf",
+            position=[0, 0, 0],
+            rotation=[0, 0, 0],
+            jointValues={
+                # Front Left leg
+                "FL_hip_joint": hip_angle,
+                "FL_thigh_joint": thigh_angle,
+                "FL_calf_joint": calf_angle,
+
+                # Front Right leg
+                "FR_hip_joint": -hip_angle,
+                "FR_thigh_joint": thigh_angle,
+                "FR_calf_joint": calf_angle,
+
+                # Rear Left leg
+                "RL_hip_joint": hip_angle,
+                "RL_thigh_joint": thigh_angle,
+                "RL_calf_joint": calf_angle,
+
+                # Rear Right leg
+                "RR_hip_joint": -hip_angle,
+                "RR_thigh_joint": thigh_angle,
+                "RR_calf_joint": calf_angle,
+            },
+            key="mini-cheetah",
+        )
+
+        # Update at ~60 FPS
+        await asyncio.sleep(0.016)
+
+app.run()
+```
+
+## Joint Control
+
+The Mini Cheetah has 12 joints (3 per leg):
+
+- **Hip joint**: Abduction/adduction (side-to-side movement)
+- **Thigh joint**: Hip flexion/extension (forward/backward)
+- **Calf joint**: Knee flexion/extension
+
+## Animation Details
+
+The example creates a walking motion using sinusoidal functions:
+
+```python
+hip_angle = 0.5 * math.sin(i * 0.1)
+thigh_angle = 0.785 - 0.25 * math.sin(i * 0.1)
+calf_angle = -1.5 + 0.5 * math.sin(i * 0.1)
+```
+
+## Expected Result
+
+When executed correctly, the tutorial produces a 3D visualization of the Mini Cheetah robot with animated leg movements displayed in a web interface at `http://localhost:8012`.
+
+## Troubleshooting
+
+### Robot not appearing
+- Verify all mesh files are downloaded
+- Check that `static_root` points to the correct directory
+- Ensure URDF file references correct mesh paths
+
+### Animation not smooth
+- Adjust the sleep interval (currently 0.016s for ~60 FPS)
+- Reduce animation speed by changing the multiplier in `i * 0.1`
+
+## Source
+
+Documentation: https://docs.vuer.ai/en/latest/tutorials/robotics/urdf_mini_cheetah.html