History

Zhenbiao Huang dc266f15d5 tried go2 rl control but failed		2024-10-10 21:22:58 +08:00
..
deep_robotics/lite3_description	tried go2 rl control but failed	2024-10-10 21:22:58 +08:00
quadruped_gazebo	use swing all rather than stance all	2024-09-20 22:10:43 +08:00
unitree	tried go2 rl control but failed	2024-10-10 21:22:58 +08:00
xiaomi/cyberdog_description	load joint names and feet names from config file	2024-10-02 13:45:21 +08:00
README.md	tried go2 rl control but failed	2024-10-10 21:22:58 +08:00

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
```

Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different.

Ros2-Control for Gazebo

sudo apt-get install ros-jazzy-gz-ros2-control

Legged PD Controller

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