Could you provide the urdf and usd of mini pupper?

[garrisonz]

Hi, author!
I have tried to import the urdf of mini pupper into Isaac Sim, but failed to make the mini pupper stand up in Isaac Lab, even by zero_agent.py.

Could you kindly provide the urdf and the converted usd file of mini pupper for reference?

The video of mini pupper in Isaac Sim trained by zero_agent.py of Isaac Lab.
https://github.com/user-attachments/assets/e685a5d8-12b0-4d8d-a853-701f9b1ac477

[javiercweddington]

Hi @garrisonz,

Thank you for reaching out and for your interest in the Mini Pupper Isaac Sim implementation!

I'd be happy to provide the URDF/USD files and configuration settings. I'm currently away from my lab machine where these files are stored, but I'll prepare a comprehensive package for you tomorrow when I return.

I'm planning to create:

• The converted USD file for Mini Pupper
• The original URDF with any modifications
• Isaac Sim configuration settings
• A brief tutorial on the conversion process and getting it to stand
• I'll upload everything to a shared Google Drive folder and update this issue with the link. This way, it will also be available for other community members who might need these resources.

Sorry I was late to respond to this request and I appreciate your patience, and I'm excited to see others building on this work. Feel free to share your progress with the zero_agent.py implementation once you get it running!

Best regards,
JavierCW

P.S. - If you encounter any specific issues with the setup after you receive the files, please don't hesitate to ask. The Mini Pupper→Isaac Sim pipeline has a few quirks that I'd be happy to help troubleshoot

[garrisonz]

Hi @javiercweddington ,

Your sharing is so helpful! I have now got the mini pupper standing up and walking in Isaac Sim, trained using the RL framework in Isaac Lab. The key to fixing my issue was following your DC Motor config settings.
Thanks a lot!

The walking demo of mini pupper is attached below.
https://github.com/user-attachments/assets/53aa1392-2150-47cc-9aaa-14b87a4c111d

[garrisonz]

Hi, @javiercweddington
I found that the converted USD file and the original URDF file (with any modifications) have not been provided yet. These are potentially helpful for my deployment reference. So, I'm re-opening this issue to follow up.

I am looking forward to your sharing. Thanks.

[javiercweddington]

Okay @garrisonz ! I am glad to see that you partially got it working.

Here is the USD file I use for the MP2: https://drive.google.com/drive/folders/1bkcsqRmbum2OJOEfTHb21fuz4UtXS1Xg?usp=drive_link

To get this USD file to spawn an upright MP2, you'll want to find the simple_stand python file found on the repo in /SpotDMouse/P2-Terrain_Challenge/mp2/isaacsim/simple_stand.py

I recently pushed it to the repo, so it should work as is. If you're interested in how the limbs and their orientations map onto the robot in simulation, feel free to take a look at /SpotDMouse/P2-Terrain_Challenge/mp2/isaacsim/easy_load.py

I hope this helps.
JavierCW

[javiercweddington]

Also @garrisonz, just in case the single file fails, I have added the entire MP2 directory the same shared folder as I realize that some of these descriptions may be linked to other files within the tree.

Best,
JavierCW