Robots
This folder contains the various robots that can be used in the PRL framework. Currently, they can be loaded in the PyBullet simulator. The corresponding URDFs have been downloaded from various repositories and updated/corrected if necessary (adding inertial tags, correcting inertia values, updating collision meshes, etc). All the robots inherit from the main Robot class, and can be loaded in the framework using:
import pyrobolearn as prl
sim = prl.simulators.BulletSim()
robot = prl.robots.<RobotClass>(sim)
or
import pyrobolearn as prl
sim = prl.simulators.BulletSim()
world = prl.worlds.BasicWorld(sim)
robot = world.loadRobot(<Robot_name_or_robot_class>)
The folder contains different kind of robots including manipulators, legged robots, wheeled robots, and others. It includes:
- Aibo
- Allegrohand
- Ant
- Atlas: 1, 2
- Ballbot
- Baxter
- BB8: 1, 2
- Blackbird
- Cartpole but modified to be able to have multiple links specified at runtime
- Cassie: 1, 2, 3
- Centauro
- Cogimon
- Coman
- Crab
- Cubli
- Darwin
- e.Do
- epuck
- F10 racecar
- Fetch
- Franka Emika
- Half Cheetah
- Hopper
- Hubo
- Humanoid
- Husky
- HyQ
- HyQ2Max
- ICub: 1, 2. There are currently few problems with this robot.
- Jaco
- KR5: 1, 2
- Kuka IIWA: 1, 2
- Kuka LWR: 1, 2
- Laikago
- Little Dog
- Manipulator2D
- Minitaur
- Lincoln MKZ car
- Morphex
- Nao: 1, and 2
- OpenDog: 1, and 2
- Pepper
- Phantom X
- Pleurobot
- PR2
- Quadcopter
- Rhex
- RRbot
- Sawyer: 1, 2
- SEA hexapod
- SEA snake
- Soft hand
- Swimmer
- Valkyrie
- Walker 2D
- Walk-man
- Wam
- Youbot: this includes the youbot base without any arms, one kuka arm, 2 kuka arms, and the kuka arm without the wheeled base.
Here is a list of robots that I plan to add at one point (some of them require to simulate some fluid dynamics, as done in the quadcopter class) but can interest already some people:
- ANYmal: I am currently not sure if I can release the URDF of this robot, and thus I will not do it until it is officially released by ETH.
- ROS robots: I plan to provide soon the robots listed on this website (I am currently cleaning the URDFs of some of them)
- rotors-simulator
- uuv-simulator
- usv-simulator
Note that currently, we load directly the URDF from the xml/urdf file using the simulator, but later we might first parse it beforehand and allow the user to add, remove, or change few links at runtime.
TODO:
- correct still few URDFs (some of them have inertia values that are too high!)
- finish to implement few methods
- move all the urdfs outside the pyrobolearn framework: put it in another repo or in a dropbox/google drive.