Commit 6e594245 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[README] simplification

parent 07fcdf1d
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.
### :construction_worker: Authors
**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.**
- [Carlos Mastalli](https://cmastalli.github.io/)
- Guilhem Saurel
[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
With additional support from the Gepetto team at LAAS-CNRS :fr: and The University of Edinburgh :uk:
## :penguin: Installation
## <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.
### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org)
### 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).
1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html):
```bash
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
1. Add robotpkg as source repository to apt:
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update
```
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 $(lsb_release -sc) robotpkg
EOF
2. installation of example-robot-data and its python utils:
```bash
sudo apt install robotpkg-py3\*-example-robot-data
```
2. Register the authentication certificate of robotpkg:
## :gear: Configuration
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
Unless you got this package from catkin, you will need to set `ROS_PACKAGE_PATH` to your `$CMAKE_INSTALL_PREFIX/share`
(eg. `/usr/local/share` by default, or `/opt/openrobots/share` with robotpkg).
3. You need to run at least once apt update to fetch the package descriptions:
## :robot: Show a robot
sudo apt-get update
`python -m example_robot_data <robot>`
4. The installation of example-robot-data:
Where `<robot>` can be:
sudo apt install robotpkg-example-robot-data
## Show the robot
(you will need pinocchio and its Python bindings)
`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
system.
- `anymal`
- `anymal_kinova`
- `hector`
- `hyq`
- `iris`
- `solo`
- `solo12`
- `talos`
- `talos_arm`
- `talos_legs`
- `tiago`
- `tiago_no_hand`
- `icub`
- `ur5`
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