Example robot URDFs (RoahmLab fork)

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.

RoahmLab Modification

We add a Digit-v3 from Agility Robotics to this repository. In order to load the robot, we have to modify python/example_robot_data/robots_loader.py, where we add a new class DigitLoader and a new index "digit": DigitLoader in the dictionary ROBOTS.

If you already installed the original example-robot-data repository through conda (by following the procedures in the next section), we suggest you manually apply the changes according to the following procedure:

1. The urdf and the meshes should be stored in ~/miniconda3/share/example-robot-data/robots. Copy the folder robots/digit_description in this repository to location ~/miniconda3/share/example-robot-data/robots, together with other robot descriptions.
2. The python robot loader should be stored in ~/miniconda3/lib/python3.12/site-packages/example_robot_data/robots_loader.py. Add the changes in python/example_robot_data/robots_loader.py of this repository to ~/miniconda3/lib/python3.12/site-packages/example_robot_data/robots_loader.py (new class DigitLoader and new index "digit": DigitLoader in the dictionary ROBOTS).

Then you should be able to import Digit in python really easily:

import example_robot_data as erd
robot = erd.load('digit')

🐧 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

🐍 From

As simple as that:

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

🐢 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, Heriot-Watt University 🇬🇧
• 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 🇪🇸
• Louis Montaut, INRIA 🇫🇷, CTU 🇨🇿
• Sergi Martinez, Heriot-Watt University 🇬🇧