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Example robot URDFs
# Example robot URDFs
## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction
[![pipeline status](https://gitlab.laas.fr/gepetto/example-robot-data/badges/master/pipeline.svg)](https://gitlab.laas.fr/gepetto/example-robot-data/-/commits/master)
This repository includes a set of robot descriptions that are aimed to be used in benchmarking. These source files do not intend to substitute original their repositories.
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
**Authors:** [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
**With additional support from the Gepetto team at LAAS-CNRS and The University of Edinburgh.**
### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org)
[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html):
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update
## <img align="center" height="20" src="https://i.imgur.com/x1morBF.png"/> Installation
You can install this package throught robotpkg. robotpkg is a package manager tailored for robotics softwares. It
greatly simplifies the release of new versions along with the management of their dependencies. You just need to add
the robotpkg apt repository to your sources.list and then use `sudo apt install robotpkg-example-robot-data` or `sudo
apt install robotpkg-py27-example-robot-data` (or `py3X` for python 3.X, depending on your system) if you need the
Python loaders.
2. installation of example-robot-data and its python utils:
sudo apt install robotpkg-py3\*-example-robot-data
### Add robotpkg apt repository
If you have never added robotpkg as a softwares repository, please follow first the instructions from 1 to 3. Otherwise, go directly to instruction 4. Those instructions are similar to the installation procedures presented in [http://robotpkg.openrobots.org/debian.html](http://robotpkg.openrobots.org/debian.html).
### :turtle: With ROS
1. Add robotpkg as source repository to apt:
Just clone it (with `--recursive`) into a catkin workspace.
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -sc) robotpkg
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
### :file_folder: From source
2. Register the authentication certificate of robotpkg:
Clone it (with `--recursive`), create a `build` directory inside, and:
cmake .. && make && make install
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
## :gear: Configuration
3. You need to run at least once apt update to fetch the package descriptions:
Unless you got this package from catkin, you will need to set `ROS_PACKAGE_PATH` to your `$CMAKE_INSTALL_PREFIX/share`
(eg. `/usr/local/share` by default, or `/opt/openrobots/share` with robotpkg).
sudo apt-get update
## :robot: Show a robot with [gepetto-gui](https://github.com/gepetto/gepetto-viewer-corba)
4. The installation of example-robot-data:
`python -m example_robot_data -h` to list available robots.
sudo apt install robotpkg-example-robot-data
## :copyright: Credits
### :writing_hand: Written by
## Show the robot
- [Carlos Mastalli](https://cmastalli.github.io/), The University of Edinburgh :uk:
- [Guilhem Saurel](https://github.com/nim65s), LAAS-CNRS :fr:
(you will need pinocchio and its Python bindings)
### :construction_worker: With contributions from
`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5,hector,iris]`
This will work from the `python` subdirectory inside this repository, or if this package has been installed on your
- [Justin Carpentier](https://jcarpent.github.io/), INRIA :fr:
- [Pierre Fernbach](https://pfernbach.github.io/), LAAS-CNRS :fr:
- [Florent Lamiraux](https://gepettoweb.laas.fr/index.php/Members/FlorentLamiraux), LAAS-CNRS :fr:
- [Wolfgang Merkt](http://www.wolfgangmerkt.com/research/), University of Oxford :uk:
- [Josep Martí Saumell](https://www.iri.upc.edu/staff/jmarti), IRI: CSIC-UPC :es:
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