https://github.com/HybridRobotics/berkeley_humanoid_description
https://github.com/HybridRobotics/berkeley_humanoid_description
Last synced: 5 days ago
JSON representation
- Host: GitHub
- URL: https://github.com/HybridRobotics/berkeley_humanoid_description
- Owner: HybridRobotics
- Created: 2024-08-23T22:12:49.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2024-08-23T22:13:52.000Z (8 months ago)
- Last Synced: 2025-03-22T20:13:24.961Z (about 1 month ago)
- Language: OpenSCAD
- Size: 14.6 MB
- Stars: 23
- Watchers: 5
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
- awesome-robot-descriptions - URDF - 3-Clause | ✔️ | ✔️ | ✔️ | (Robot Descriptions / Humanoids)
README
# Berkeley Humanoid Robot Description (URDF)
## Overview
This package contains a robot description (URDF) of [Berkeley Humanoid](https://berkeley-humanoid.com) developed by [Hybrid Robotics
](https://hybrid-robotics.berkeley.edu/).
[](doc/thumbnail.png)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Usage
Load the Berkeley Humanoidescription to the ROS parameter server:
roslaunch berkeley_humanoid_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `joint_state_publisher_gui` ,`robot_state_publisher`, `rviz`):
roslaunch berkeley_humanoid_description standalone.launch
### Launch files
* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.
## FAQ
**Q: Why doesn't the maximum torque of each joint match the values in the paper?**
**A:** The maximum torque is limited for safety reasons.
**Q: Where is the arm?**
**A:** This version of the robot is focused on locomotion research. We are currently developing and testing the arm.