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
```