jcarpent / example-robot-data

Set of robot URDFs for benchmarking and developed examples.

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

🐢 With ROS

Just clone it (with --recursive) into a catkin workspace.

📁 From source

Clone it (with --recursive), create a build directory inside, and:

cmake .. && make && make install

🤖 Show a robot with gepetto-gui

python -m example_robot_data -h to list available robots.

©️ Credits

✍️ Written by

• Carlos Mastalli, The University of Edinburgh 🇬🇧
• Guilhem Saurel, LAAS-CNRS 🇫🇷

👷 With contributions from

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