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.

:penguin: Installation

:package: 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
   

:snake: From

As simple as that:

   conda install example-robot-data -c conda-forge

:turtle: With ROS

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

:file_folder: From source

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

cmake .. && make && make install

:robot: Show a robot with gepetto-gui

python -m example_robot_data -h to list available robots.

:copyright: Credits

:writing_hand: Written by

• Carlos Mastalli, Heriot-Watt University :uk:
• Guilhem Saurel, LAAS-CNRS :fr:

:construction_worker: With contributions from

• Justin Carpentier, INRIA :fr:
• Pierre Fernbach, LAAS-CNRS :fr:
• Florent Lamiraux, LAAS-CNRS :fr:
• Wolfgang Merkt, University of Oxford :uk:
• Josep Martí Saumell, IRI: CSIC-UPC :es:
• Louis Montaut, INRIA :fr:, CTU :czech_republic:
• Sergi Martinez, Heriot-Watt University :uk: