Pupper v3

May 25, 2024 ยท View on GitHub

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

  1. Build this package
  2. Export pupper v3 from CAD
  3. Use Phobos Blender plugin to construct joints and bodies
  4. Export to URDF using Phobos plugin. Select STL as mesh type.
  5. 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.
  6. Verify using RVIZ. ros2 launch pupper_v3_description display_model.launch.py
  7. 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 to pupper_v3_description/description/mujoco_xml
  8. 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.
  9. Format the xml files using VSCode XML extension
  10. Verify using Mujoco simulate executable. ros2 run pupper_mujoco_sim simulate and this time drag in the pupper_v3_complete.xml file.