84 lines
2.1 KiB
Markdown
84 lines
2.1 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 --symlink-install
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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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### Mujoco Simulator
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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 unitree_guide_controller mujoco.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 ocs2_quadruped_controller mujoco.launch.py
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```
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* RL Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller mujoco.launch.py
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```
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### Gazebo Classic 11 (ROS2 Humble)
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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 unitree_guide_controller gazebo_classic.launch.py
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```
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### Gazebo Harmonic (ROS2 Jazzy)
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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 unitree_guide_controller gazebo.launch.py
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```
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* RL 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 gazebo_rl_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
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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 "
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Amended_collision_model.png" respectively.
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