README.md

Example robot URDFs

This repository includes a set of robot descriptions that are aimed to be used in benchmarking, unit-tests, teachings, tutorials or show-cases. These source files do not intend to substitute their original repositories.

🐧 Installation

📦 From Debian / Ubuntu packages, with robotpkg

1. If you have never added robotpkg's software repository, do it now:

   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
   EOF
   
   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
   sudo apt update

2. installation of example-robot-data and its python utils:

   sudo apt install robotpkg-py3\*-example-robot-data

⚙️ Configuration

Unless you got this package from catkin, you will need to set ROS_PACKAGE_PATH to your $CMAKE_INSTALL_PREFIX/share (eg. /usr/local/share by default, or /opt/openrobots/share with robotpkg).

🤖 Show a robot with gepetto-gui

python -m example_robot_data <robot>

Where <robot> can be:

• anymal
• anymal_kinova
• hector
• hyq
• iris
• solo
• solo12
• talos
• talos_arm
• talos_legs
• tiago
• tiago_no_hand
• icub
• ur5

©️ Credits

✍️ Written by

• Carlos Mastalli, The University of Edinburgh :uk:
• Guilhem Saurel, LAAS-CNRS 🇫🇷

👷 With contributions from

• Justin Carpentier, INRIA 🇫🇷
• Pierre Fernbach, LAAS-CNRS 🇫🇷
• Florent Lamiraux, LAAS-CNRS 🇫🇷
• Wolfgang Merkt, University of Oxford :uk:
• Josep Martí Saumell, IRI: CSIC-UPC 🇪🇸