43 lines
1.3 KiB
Markdown
43 lines
1.3 KiB
Markdown
# Robot Descriptions
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This folder contains the URDF and SRDF files for the quadruped robot.
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* Unitree
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* [Go1](unitree/go1_description/)
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* [Go2](unitree/go2_description/)
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* [A1](unitree/a1_description/)
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* [Aliengo](unitree/aliengo_description/)
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* [B2](unitree/b2_description/)
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* Xiaomi
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* [Cyberdog](xiaomi/cyberdog_description/)
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## Steps to transfer urdf to Mujoco model
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* Install [Mujoco](https://github.com/google-deepmind/mujoco)
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* Transfer the mesh files to mujoco supported format, like stl.
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* Adjust the urdf tile to match the mesh file. Transfer the mesh file from .dae to .stl may change the scale size of the
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mesh file.
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* use `xacro` to generate the urdf file.
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```
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xacro robot.xacro > ../urdf/robot.urdf
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```
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* use mujoco to convert the urdf file to mujoco model.
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```
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compile robot.urdf robot.xml
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```
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## Dependencies for Gazebo Simulation
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Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different.
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* Gazebo Harmonic
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```bash
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sudo apt-get install ros-jazzy-ros-gz
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```
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* Ros2-Control for Gazebo
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```bash
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sudo apt-get install ros-jazzy-gz-ros2-control
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```
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* Legged PD Controller
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to leg_pd_controller
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``` |