History

Huang Zhenbiao 09ec0abde4 add load config file		2024-10-07 11:57:32 +08:00
..
quadruped_gazebo	use swing all rather than stance all	2024-09-20 22:10:43 +08:00
unitree	add load config file	2024-10-07 11:57:32 +08:00
xiaomi/cyberdog_description	load joint names and feet names from config file	2024-10-02 13:45:21 +08:00
README.md	add support for unitree A1 simulation	2024-10-01 19:54:17 +08:00

README.md

Robot Descriptions

This folder contains the URDF and SRDF files for the quadruped robot.

Unitree
- Go1
- Go2
- A1
- Aliengo
- B2
Xiaomi
- Cyberdog

Steps to transfer urdf to Mujoco model

Install Mujoco
Transfer the mesh files to mujoco supported format, like stl.
Adjust the urdf tile to match the mesh file. Transfer the mesh file from .dae to .stl may change the scale size of the mesh file.
use xacro to generate the urdf file.
```
xacro robot.xacro > ../urdf/robot.urdf
```
use mujoco to convert the urdf file to mujoco model.
```
compile robot.urdf robot.xml
```