47 lines
1.4 KiB
Markdown
47 lines
1.4 KiB
Markdown
# Unitree Go2 Description
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This repository contains the urdf model of go2.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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* ROS2 Humble
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to go2_description
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```
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## Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description visualize.launch.py
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```
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## Launch ROS2 Control
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description unitree_guide.launch.py
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description ocs2_control.launch.py
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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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