26 lines
835 B
Markdown
26 lines
835 B
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 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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``` |