mirror of
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update docs
This commit is contained in:
Brian Delhaisse
+124
-89
@@ -9,6 +9,37 @@ More than 64 robots have been implemented in PRL and include various kind of rob
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GIF
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.. image:: ../figures/coman.png
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:width: 9%
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:alt: coman
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.. image:: ../figures/wam.png
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:width: 9%
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:alt: wam
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.. image:: ../figures/fetch.png
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:width: 9%
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:alt: fetch
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.. image:: ../figures/cassie.png
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:width: 9%
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:alt: cassie
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.. image:: ../figures/hyq2max.png
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:width: 9%
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:alt: hyq2max
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.. image:: ../figures/phantomx.png
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:width: 9%
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:alt: phantomx
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.. image:: ../figures/pleurobot.png
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:width: 9%
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:alt: pleurobot
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.. image:: ../figures/softhand.png
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:width: 9%
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:alt: softhand
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.. image:: ../figures/centauro.png
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:width: 9%
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:alt: baxter
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.. image:: ../figures/walkman.png
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:width: 9%
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:alt: walkman
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Note that for few of them such as the ones that require the simulation of fluids such as quadcopters. The corresponding class implements the dynamical simulation. For such classes, as I did not spend too much time one it, some improvements might be needed for better realism.
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@@ -16,6 +47,7 @@ How to use a robot in PRL?
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--------------------------
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.. code-block:: python
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:linenos:
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from itertools import count
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import pyrobolearn as prl
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@@ -45,35 +77,35 @@ How to use a robot in PRL?
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world.step(sim.dt)
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You can check for more examples in the [`examples/robots`](https://github.com/robotlearn/pyrobolearn/tree/master/examples/robots) folder. You can also check for [`examples/kinematics`](https://github.com/robotlearn/pyrobolearn/tree/master/examples/kinematics) and [`examples/dynamics`](https://github.com/robotlearn/pyrobolearn/tree/master/examples/dynamics).
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You can check for more examples in the `examples/robots <https://github.com/robotlearn/pyrobolearn/tree/master/examples/robots>`_ folder. You can also check for `examples/kinematics <https://github.com/robotlearn/pyrobolearn/tree/master/examples/kinematics>`_ and `examples/dynamics <https://github.com/robotlearn/pyrobolearn/tree/master/examples/dynamics>`_.
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Design
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------
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The most abstract class is the `Body` class which is described in `pyrobolearn/robots/base.py`. From it, you can already access to multiple functionalities/attributes, such as its position and orientation. It only depends on the simulator.
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The most abstract class is the ``Body`` class which is described in `pyrobolearn/robots/base.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/base.py>`_. From it, you can already access to multiple functionalities/attributes, such as its position and orientation. It only depends on the simulator.
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Inheriting from one of its child classes is the most interesting (for our purpose) `Robot` class, described in `robot.py`. It is the parent class of several classes such as:
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.. image:: ../UML/robots.png
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:alt: UML diagram for Robot
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:align: center
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- `Manipulator` defined in `pyrobolearn/robots/manipulator.py`
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- `LeggedRobot` defined in `pyrobolearn/robots/legged_robot.py`
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- `WheeledRobot` defined in `pyrobolearn/robots/wheeled_robot.py`
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- `Hand` defined in `pyrobolearn/robots/hand.py`
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Inheriting from one of its child classes is the most interesting (for our purpose) ``Robot`` class, described in `robot.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/robot.py>`_. It is the parent class of several classes such as:
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- ``Manipulator`` defined in `manipulator.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/manipulator.py>`_
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- ``LeggedRobot`` defined in `legged_robot.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/legged_robot.py>`_
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- ``WheeledRobot`` defined in `wheeled_robot.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/wheeled_robot.py>`_
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- ``Hand`` defined in `hand.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/hand.py>`_
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- etc.
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UML picture
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Note that `Robot` only depends on the simulator interface, and is independent of other modules in PRL (at the exception of some utils method that are useful to perform some transformations).
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Note that ``Robot`` only depends on the simulator interface (aggregation relationship), and is independent of other modules in PRL (at the exception of some util methods that are useful to perform some transformations).
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How to create your own robot?
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-----------------------------
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To illustrate how to create your own robot, let's assume you want to create a humanoid robot (biped and bi-manipulator) called `Asimov`.
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To illustrate how to create your own robot, let's assume you want to create a humanoid robot (biped and bi-manipulator) called ``Asimov``.
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1. First, you have to get (or create) its URDF file and the associated meshes. Let's put them in a directory called `asimov`, and move it in the `pyrobolearn/robots/urdfs/` folder where all the other URDFs are.
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1. First, you have to get (or create) its URDF file and the associated meshes. Let's put them in a directory called ``asimov``, and move it in the ``pyrobolearn/robots/urdfs/`` folder where all the other URDFs are.
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2. If you want to use it directly and to not create a specific class, you can just call:
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@@ -102,10 +134,11 @@ To illustrate how to create your own robot, let's assume you want to create a hu
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# perform a step in the world and pause for `sim.dt`
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world.step(sim.dt)
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3. Instead of the second point, let's create a proper class `Asimov` that inherits from the `BipedRobot` and `BiManipulator` (and thus inherits their functionalities) in a Python file `asimov.py`:
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3. Instead of the second point, let's create a proper class ``Asimov`` that inherits from the ``BipedRobot`` and ``BiManipulator`` (and thus inherits their functionalities) in a Python file ``asimov.py``:
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.. code-block:: python
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:linenos:
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#!/usr/bin/env python
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"""Short description about your robot
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@@ -168,7 +201,7 @@ To illustrate how to create your own robot, let's assume you want to create a hu
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...
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3. If you want to be able to load your robot from the world using its name (by calling `world.load_robot('asimov')`), add the Python file `asimov.py` in the `pyrobolearn/robots/` folder. The `__init__.py` inside that folder will automatically go through all the files and add the robots inside the `implemented_robots` list which is accessed by `World`. Note that you can also accessed to this list by calling `pyrobolearn.robots.implemented_robots`. If you also want to be able to call your robot using `from pyrobolearn.robots import Asimov`, you will have to add the line `from .asimov import Asimov` in the `pyrobolearn/robots/__init__.py`.
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3. If you want to be able to load your robot from the world using its name (by calling ``world.load_robot('asimov')``), add the Python file ``asimov.py`` in the `pyrobolearn/robots/ <https://github.com/robotlearn/pyrobolearn/tree/master/pyrobolearn/robots>`_ folder. The ``__init__.py`` inside that folder will automatically go through all the files and add the robots inside the ``implemented_robots`` list which is accessed by ``World``. Note that you can also accessed to this list by calling ``pyrobolearn.robots.implemented_robots``. If you also want to be able to call your robot using ``from pyrobolearn.robots import Asimov``, you will have to add the line ``from .asimov import Asimov`` in the `pyrobolearn/robots/__init__.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/robots/__init__.py>`_.
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4. Now, you can call your robot in the framework.
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@@ -203,91 +236,93 @@ Sensors and Actuators
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FAQs and Troubleshootings
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-------------------------
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* The mass/inertia matrix of some links are not correct in the simulator, what should I do?
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* If you use the Bullet simulator (which uses `pybullet`), you have to specify the mass and inertia matrix for each link. If a link doesn't have these attributes defined, pybullet automatically attribute a mass of 1kg and an identity inertia matrix (which is ridiculous huge). Normally, links without a mass and inertia matrices defined in a URDF file are dummy links that are used to represent a reference frame. To set a reasonable inertia matrix, please refer to ["Adding Physical and Collision Properties to a URDF Model"](http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model) and ["Inertial parameters of triangle meshes"](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot).
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* It is possible that some masses / inertia matrices have not been correctly set in the original URDF. I cleaned most of the URDF files but some links might have escaped my attention. Please open an issue on [Github](https://github.com/robotlearn/pyrobolearn), or check the 2 [links](http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model) [above](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) on how to set reasonable inertia values.
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- The mass/inertia matrix of some links are not correct in the simulator, what should I do?
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* If you use the Bullet simulator (which uses ``pybullet``), you have to specify the mass and inertia matrix for each link. If a link doesn't have these attributes defined, pybullet automatically attribute a mass of 1kg and an identity inertia matrix (which is ridiculous huge). Normally, links without a mass and inertia matrices defined in a URDF file are dummy links that are used to represent a reference frame. To set a reasonable inertia matrix, please refer to `"Adding Physical and Collision Properties to a URDF Model" <http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model>`_ and `"Inertial parameters of triangle meshes" <http://gazebosim.org/tutorials?tut=inertia&cat=build_robot>`_.
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* It is possible that some masses / inertia matrices have not been correctly set in the original URDF. I cleaned most of the URDF files but some links might have escaped my attention. Please open an issue on `Github <https://github.com/robotlearn/pyrobolearn>`_, or check the 2 `links <http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model>`_ `above <http://gazebosim.org/tutorials?tut=inertia&cat=build_robot>`_ on how to set reasonable inertia values.
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* How to convert a xacro file to a URDF file? Type `rosrun xacro xacro --inorder path/to/<robot>.urdf.xacro > <robot>.urdf` or `rosrun xacro xacro.py --inorder path/to/<robot>.urdf.xacro > <robot>.urdf`
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- How to convert a xacro file to a URDF file? Type ``rosrun xacro xacro --inorder path/to/<robot>.urdf.xacro > <robot>.urdf`` or ``rosrun xacro xacro.py --inorder path/to/<robot>.urdf.xacro > <robot>.urdf``
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* When I set the `fixed_base` to `False`, the robot has still a fixed base, what is happening? The first link (often called base_link or world_link in most URDF files) shouldn't have a mass/inertia of zero, this causes the robot to have a fixed base. Remove the corresponding tag from the urdf.
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- When I set the ``fixed_base`` to ``False``, the robot has still a fixed base, what is happening? The first link (often called base_link or world_link in most URDF files) shouldn't have a mass/inertia of zero, this causes the robot to have a fixed base. Remove the corresponding tag from the urdf.
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* I noticed that some functionalities are missing in one of the robot class? I probably forgot to implement it. Please open an issue on [Github](https://github.com/robotlearn/pyrobolearn) or create a pull request.
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- I noticed that some functionalities are missing in one of the robot class? I probably forgot to implement it. Please open an issue on `Github <https://github.com/robotlearn/pyrobolearn>`_ or create a pull request.
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* There is an error in one of the functionalities? Or, I have another question or want to suggest an improvement? Please open an issue on [Github](https://github.com/robotlearn/pyrobolearn) or a create a pull request.
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- There is an error in one of the functionalities? Or, I have another question or want to suggest an improvement? Please open an issue on `Github <https://github.com/robotlearn/pyrobolearn>`_ or a create a pull request.
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Future works
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------------
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* add more robots
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* [hexapods](https://github.com/resibots/hexapod_ros/tree/master/hexapod_description)
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* improve the flexibility/modularity by allowing to remove/add/replace links to/from the main robot. For instance:
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* add a gripper to a manipulator robot, or replace a gripper with another
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* remove a leg to a legged robot (which is interesting to simulate damage recovery scenarios)
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* might need to define different URDFs for different simulators
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- add more robots. Here are few other robots that might interest the users:
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- `hexapods <https://github.com/resibots/hexapod_ros/tree/master/hexapod_description>`_
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- `ROS robots <https://robots.ros.org/>`_
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- `Universal robots <https://github.com/ros-industrial/universal_robot>`_
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- improve the flexibility/modularity by allowing to remove/add/replace links to/from the main robot. For instance:
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- add a gripper to a manipulator robot, or replace a gripper with another
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- remove a leg from a legged robot (which is interesting to simulate damage recovery scenarios)
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- might need to define different URDFs for different simulators
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References
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----------
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All the robots were found in the following github repositories (and several were cleaned by me):
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- [Aibo](https://github.com/dkotfis/aibo_ros)
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- [Allegrohand](https://github.com/simlabrobotics/allegro_hand_ros)
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- [Ant](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- Atlas: [1](https://github.com/openai/roboschool), [2](https://github.com/erwincoumans/pybullet_robots)
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- [Ballbot](https://github.com/CesMak/bb)
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- [Baxter](https://github.com/RethinkRobotics/baxter_common)
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- BB8: [1](http://www.theconstructsim.com/bb-8-gazebo-model/), [2](https://github.com/eborghi10/BB-8-ROS)
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- [Blackbird](https://hackaday.io/project/160882-blackbird-bipedal-robot)
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- [Cartpole](https://github.com/bulletphysics/bullet3/blob/master/data/cartpole.urdf) but modified to be able to have multiple links specified at runtime
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- Cassie: [1](https://github.com/UMich-BipedLab/Cassie_Model), [2](https://github.com/agilityrobotics/cassie-gazebo-sim), [3](https://github.com/erwincoumans/pybullet_robots)
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- [Centauro](https://github.com/ADVRHumanoids/centauro-simulator)
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- [Cogimon](https://github.com/ADVRHumanoids/iit-cogimon-ros-pkg)
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- [Coman](https://github.com/ADVRHumanoids/iit-coman-ros-pkg)
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- [Crab](https://github.com/tuuzdu/crab_project)
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- [Cubli](https://github.com/xinsongyan/cubli)
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- [Darwin](https://github.com/HumaRobotics/darwin_description)
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- [e.Do](https://github.com/Comau/eDO_description)
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- [E-puck](https://github.com/gctronic/epuck_driver_cpp)
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- [F10 racecar](https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar)
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- [Fetch](https://github.com/fetchrobotics/fetch_ros)
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- [Flappy]()
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- [Franka Emika](https://github.com/frankaemika/franka_ros)
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- [Half Cheetah](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- [Hopper](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- [Hubo](https://github.com/robEllenberg/hubo-urdf)
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- [Humanoid](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- [Husky](https://github.com/husky/husky)
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- [HyQ](https://github.com/iit-DLSLab/hyq-description)
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- [HyQ2Max](https://github.com/iit-DLSLab/hyq2max-description)
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- ICub: [1](https://github.com/robotology-playground/icub-models), [2](https://github.com/robotology-playground/icub-model-generator). There are currently few problems with this robot.
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- [Jaco](https://github.com/JenniferBuehler/jaco-arm-pkgs)
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- KR5: [1](https://github.com/a-price/KR5sixxR650WP_description), [2](https://github.com/ros-industrial/kuka_experimental)
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- Kuka IIWA: [1](https://github.com/IFL-CAMP/iiwa_stack), [2](https://github.com/bulletphysics/bullet3/tree/master/data/kuka_iiwa)
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- Kuka LWR: [1](https://github.com/CentroEPiaggio/kuka-lwr), [2](https://github.com/bulletphysics/bullet3/tree/master/data/kuka_lwr)
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- [Laikago](https://github.com/erwincoumans/pybullet_robots)
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- [Little Dog](https://github.com/RobotLocomotion/LittleDog)
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- [Manipulator2D](https://github.com/domingoesteban/robolearn_robots_ros)
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- [Minitaur](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/quadruped)
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- [Lincoln MKZ car](https://bitbucket.org/DataspeedInc/dbw_mkz_ros)
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- [Morphex](https://gist.github.com/lanius/cb8b5e0ede9ff3b2b2c1bc68b95066fb)
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- Nao: [1](https://github.com/ros-naoqi/nao_robot), and [2](https://github.com/ros-naoqi/nao_meshes)
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- OpenDog: [1](https://github.com/XRobots/openDog), and [2](https://github.com/wiccopruebas/opendog_project)
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- [Pepper](https://github.com/ros-naoqi/pepper_robot)
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- [Phantom X](https://github.com/HumaRobotics/phantomx_description)
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- [Pleurobot](https://github.com/KM-RoBoTa/pleurobot_ros_pkg)
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- [PR2](https://github.com/pr2/pr2_common)
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- [Quadcopter](https://github.com/wilselby/ROS_quadrotor_simulator)
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- [Rhex](https://github.com/grafoteka/rhex)
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- [RRbot](https://github.com/ros-simulation/gazebo_ros_demos)
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- Sawyer: [1](https://github.com/RethinkRobotics/sawyer_robot), [2](https://github.com/erwincoumans/pybullet_robots)
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- [SEA hexapod](https://github.com/alexansari101/snake_ws)
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- [SEA snake]( https://github.com/alexansari101/snake_ws)
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- [Shadow hand](https://github.com/shadow-robot/sr_common)
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- [Soft hand](https://github.com/CentroEPiaggio/pisa-iit-soft-hand)
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- [Swimmer](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- [Valkyrie](https://github.com/openhumanoids/val_description)
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- [Walker 2D](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf)
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- [Walk-man](https://github.com/ADVRHumanoids/iit-walkman-ros-pkg)
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- [Wam](https://github.com/jhu-lcsr/barrett_model)
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- [Youbot](https://github.com/youbot): this includes the youbot base without any arms, one kuka arm, 2 kuka arms, and the kuka arm without the wheeled base.
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- `Aibo <https://github.com/dkotfis/aibo_ros>`_
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- `Allegrohand <https://github.com/simlabrobotics/allegro_hand_ros>`_
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- `Ant <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
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- Atlas: `1 <https://github.com/openai/roboschool>`_, `2 <https://github.com/erwincoumans/pybullet_robots>`_
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- `Ballbot <https://github.com/CesMak/bb>`_
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- `Baxter <https://github.com/RethinkRobotics/baxter_common>`_
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- BB8: `1 <http://www.theconstructsim.com/bb-8-gazebo-model/>`_, `2 <https://github.com/eborghi10/BB-8-ROS>`_
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- `Blackbird <https://hackaday.io/project/160882-blackbird-bipedal-robot>`_
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- `Cartpole <https://github.com/bulletphysics/bullet3/blob/master/data/cartpole.urdf>`_ but modified to be able to have multiple links specified at runtime
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- Cassie: `1 <https://github.com/UMich-BipedLab/Cassie_Model>`_, `2 <https://github.com/agilityrobotics/cassie-gazebo-sim>`_, `3 <https://github.com/erwincoumans/pybullet_robots>`_
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- `Centauro <https://github.com/ADVRHumanoids/centauro-simulator>`_
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- `Cogimon <https://github.com/ADVRHumanoids/iit-cogimon-ros-pkg>`_
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- `Coman <https://github.com/ADVRHumanoids/iit-coman-ros-pkg>`_
|
||||
- `Crab <https://github.com/tuuzdu/crab_project>`_
|
||||
- `Cubli <https://github.com/xinsongyan/cubli>`_
|
||||
- `Darwin <https://github.com/HumaRobotics/darwin_description>`_
|
||||
- `e.Do <https://github.com/Comau/eDO_description>`_
|
||||
- `E-puck <https://github.com/gctronic/epuck_driver_cpp>`_
|
||||
- `F10 racecar <https://github.com/erwincoumans/pybullet_robots/tree/master/data/f10_racecar>`_
|
||||
- `Fetch <https://github.com/fetchrobotics/fetch_ros>`_
|
||||
- `Franka Emika <https://github.com/frankaemika/franka_ros>`_
|
||||
- `Half Cheetah <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
|
||||
- `Hopper <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
|
||||
- `Hubo <https://github.com/robEllenberg/hubo-urdf>`_
|
||||
- `Humanoid <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
|
||||
- `Husky <https://github.com/husky/husky>`_
|
||||
- `HyQ <https://github.com/iit-DLSLab/hyq-description>`_
|
||||
- `HyQ2Max <https://github.com/iit-DLSLab/hyq2max-description>`_
|
||||
- ICub: `1 <https://github.com/robotology-playground/icub-models>`_, `2 <https://github.com/robotology-playground/icub-model-generator>`_. There are currently few problems with this robot.
|
||||
- `Jaco <https://github.com/JenniferBuehler/jaco-arm-pkgs>`_
|
||||
- KR5: `1 <https://github.com/a-price/KR5sixxR650WP_description>`_, `2 <https://github.com/ros-industrial/kuka_experimental>`_
|
||||
- Kuka IIWA: `1 <https://github.com/IFL-CAMP/iiwa_stack>`_, `2 <https://github.com/bulletphysics/bullet3/tree/master/data/kuka_iiwa>`_
|
||||
- Kuka LWR: `1 <https://github.com/CentroEPiaggio/kuka-lwr>`_, `2 <https://github.com/bulletphysics/bullet3/tree/master/data/kuka_lwr>`_
|
||||
- `Laikago <https://github.com/erwincoumans/pybullet_robots>`_
|
||||
- `Little Dog <https://github.com/RobotLocomotion/LittleDog>`_
|
||||
- `Manipulator2D <https://github.com/domingoesteban/robolearn_robots_ros>`_
|
||||
- `Minitaur <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/quadruped>`_
|
||||
- `Lincoln MKZ car <https://bitbucket.org/DataspeedInc/dbw_mkz_ros>`_
|
||||
- `Morphex <https://gist.github.com/lanius/cb8b5e0ede9ff3b2b2c1bc68b95066fb>`_
|
||||
- Nao: `1 <https://github.com/ros-naoqi/nao_robot>`_, and `2 <https://github.com/ros-naoqi/nao_meshes>`_
|
||||
- OpenDog: `1 <https://github.com/XRobots/openDog>`_, and `2 <https://github.com/wiccopruebas/opendog_project>`_
|
||||
- `Pepper <https://github.com/ros-naoqi/pepper_robot>`_
|
||||
- `Phantom X <https://github.com/HumaRobotics/phantomx_description>`_
|
||||
- `Pleurobot <https://github.com/KM-RoBoTa/pleurobot_ros_pkg>`_
|
||||
- `PR2 <https://github.com/pr2/pr2_common>`_
|
||||
- `Quadcopter <https://github.com/wilselby/ROS_quadrotor_simulator>`_
|
||||
- `Rhex <https://github.com/grafoteka/rhex>`_
|
||||
- `RRbot <https://github.com/ros-simulation/gazebo_ros_demos>`_
|
||||
- Sawyer: `1 <https://github.com/RethinkRobotics/sawyer_robot>`_, `2 <https://github.com/erwincoumans/pybullet_robots>`_
|
||||
- `SEA hexapod <https://github.com/alexansari101/snake_ws>`_
|
||||
- `SEA snake <https://github.com/alexansari101/snake_ws>`_
|
||||
- `Shadow hand <https://github.com/shadow-robot/sr_common>`_
|
||||
- `Soft hand <https://github.com/CentroEPiaggio/pisa-iit-soft-hand>`_
|
||||
- `Swimmer <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
|
||||
- `Valkyrie <https://github.com/openhumanoids/val_description>`_
|
||||
- `Walker 2D <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/mjcf>`_
|
||||
- `Walk-man <https://github.com/ADVRHumanoids/iit-walkman-ros-pkg>`_
|
||||
- `Wam <https://github.com/jhu-lcsr/barrett_model>`_
|
||||
- `Youbot <https://github.com/youbot>`_: this includes the youbot base without any arms, one kuka arm, 2 kuka arms, and the kuka arm without the wheeled base.
|
||||
|
||||
Reference in New Issue
Block a user