Fixing MIT Mini Cheetah

A USB port issue.

Different from the Unitree dogs, the Mini Cheetah uses a single piece of aluminum casing for the body. So we need to remove one end completely to access the internals.

After removing the screws surrounding the end cap, we can pull the motors out and access the computer inside.

The issue is that the USB expansion board mounted on the body is not working. So we ended up getting a new expansion hub and just glued it to the frame. It's tricky to get one with similar dimension.