Working Gazebo model - Githubissues

OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

MIT License

800 stars 171 forks source link

Closed grassjelly closed 4 years ago

grassjelly commented 4 years ago

This PR contains the following changes that allow the quadruped's URDF to be run in Gazebo:

Added optional LIDAR sensor
Added ros_control plugin
Added transmissions for joint actuation in Gazebo
Added friction parameters on foot mesh
Lessened aggressive joint parameters
Centered leg parts' CoM
Fixed mesh color to appear in Gazebo by explicit declaration of color using 'gazebo' tag

moribots commented 4 years ago

Incredible work Juan, thank you!