From 6e5942457766c88dff89a2a9481e8c7bcc3a24da Mon Sep 17 00:00:00 2001 From: Guilhem Saurel <guilhem.saurel@laas.fr> Date: Mon, 27 Apr 2020 16:59:22 +0200 Subject: [PATCH] [README] simplification --- README.md | 78 ++++++++++++++++++++++++++++++------------------------- 1 file changed, 42 insertions(+), 36 deletions(-) diff --git a/README.md b/README.md index 1582f97..d71da20 100644 --- a/README.md +++ b/README.md @@ -1,52 +1,58 @@ -Example robot URDFs -=============================================== +# Example robot URDFs -## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction +[](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 -[](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` -- GitLab