EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/descriptions
History
Huang Zhenbiao 4b8af1ab51 modified readme 2024-10-01 19:10:23 +08:00
..
quadruped_gazebo use swing all rather than stance all 2024-09-20 22:10:43 +08:00
unitree modified readme 2024-10-01 19:10:23 +08:00
xiaomi/cyberdog_description modified readme 2024-10-01 19:10:23 +08:00
README.md modified folder structure 2024-10-01 13:48:49 +08:00

README.md

Robot Descriptions

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

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