Awesome
Pupper v3
Description package for the Pupper v3 robot. Provides both URDF and XML files for visualization and simulation.
How to make URDF and MJCF XML robot model files
- Build this package
- Export pupper v3 from CAD
- Use Phobos Blender plugin to construct joints and bodies
- Export to URDF using Phobos plugin. Select STL as mesh type.
- Fix up URDF using
fix_urdf.py
script e.g.python3 scripts/fix_urdf.py --urdf_path=/home/parallels/pupperv3_ws/src/pupper_v3_description/description/urdf/pupper_v3.edited.urdf
. Pass--help
for all arguments. - Verify using RVIZ.
ros2 launch pupper_v3_description display_model.launch.py
- Convert to Mujoco XML by using compile or simulate executable. For simulate, run
ros2 run pupper_mujoco_sim simulate
, drag-and-drop the fixed urdf file into the window, click "Save xml" and copy topupper_v3_description/description/mujoco_xml
- Compose final Mujoco xml using
create_mujoco_xml.py
script:python3 scripts/create_mujoco_xml.py --xml_dir=/home/parallels/pupperv3_ws/src/pupper_v3_description/description/mujoco_xml
. Pass--mjx
for mjx-compatible xml. Pass--fixed
for fixed-base model. Pass--all
to generate xml for all permutations. Pass--help
for more info. - Format the xml files using VSCode XML extension
- Verify using Mujoco simulate executable.
ros2 run pupper_mujoco_sim simulate
and this time drag in thepupper_v3_complete.xml
file.