55 lines
1.4 KiB
Markdown
55 lines
1.4 KiB
Markdown
## go2_urdf
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This repository contains the urdf model of go2.
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## Build the library
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Create a new catkin workspace:
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```
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# Create the directories
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# Do not forget to change <...> parts
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mkdir -p <directory_to_ws>/<catkin_ws_name>/src
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cd <directory_to_ws>/<catkin_ws_name>/
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# Initialize the catkin workspace
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catkin init
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```
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Clone this library:
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```
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# Navigate to the directory of src
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# Do not forget to change <...> parts
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cd <directory_to_ws>/<catkin_ws_name>/src
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git clone git@github.com:unitreerobotics/go2_urdf.git
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```
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Build:
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```
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# Build it
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catkin build
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# Source it
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source <directory_to_ws>/<catkin_ws_name>/devel/setup.bash
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```
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## Run the library
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```
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# Show urdf model of go2 in Rviz
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roslaunch go2_description go2_rviz.launch
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```
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## When used for isaac gym or other similiar engine
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Collision parameters in urdf can be amended to better train the robot:
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Open "go2_description.urdf" in "./go2_description/urdf",
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and amend the ` box size="0.213 0.0245 0.034" ` in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".
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For example, change previous values to ` box size="0.11 0.0245 0.034" ` means the length of the thigh is shortened from 0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.
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The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "Amended_collision_model.png" respectively.
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