History

Huang Zhenbiao 79fc0677f5 can stand but not stable		2024-09-17 14:03:08 +08:00
..
config	can stand but not stable	2024-09-17 14:03:08 +08:00
launch	fixed the frequency problem	2024-09-14 17:54:39 +08:00
meshes	init commit	2024-09-09 22:18:19 +08:00
xacro	can stand but not stable	2024-09-17 14:03:08 +08:00
CMakeLists.txt	init commit	2024-09-09 22:18:19 +08:00
README.md	achieved passive mode on unitree simulation	2024-09-10 22:30:30 +08:00
package.xml	fixed the frequency problem	2024-09-14 17:54:39 +08:00

README.md

Unitree Go2 Description

This repository contains the urdf model of go2.

Build

cd ~/ros2_ws
colcon build --packages-up-to go2_description

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description visualize.launch.py

Launch Hardware Interface

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description hardware.launch.py

When used for isaac gym or other similiar engine

Collision parameters in urdf can be amended to better train the robot:

Open "go2_description.urdf" in "./go2_description/urdf", and amend the box size="0.213 0.0245 0.034" in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".

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.

The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "Amended_collision_model.png" respectively.