descriptions

Robot Descriptions

This folder contains the URDF and SRDF files for the quadruped robot.

• Unitree
  • Go1
  • Go2
  • A1
  • Aliengo
  • B2
• Xiaomi
  • Cyberdog
• Deep Robotics
  • Lite 3
  • X30
• Anybotics
  • Anymal C

1. 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
  

2. Dependencies for Gazebo Simulation

Gazebo Simulation only tested on ROS2 Jazzy. It add support for ROS2 Humble because the package name is different.

• Gazebo Harmonic

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

• 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

2. Dependencies for Gazebo Classic Simulation

Gazebo Classic (Gazebo11) Simulation only tested on ROS2 Humble.

• Gazebo Classic

  sudo apt-get install ros-humble-gazebo-ros

• Ros2-Control for Gazebo

  sudo apt-get install ros-humble-gazebo-ros2-control

• Legged PD Controller

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