https://github.com/manifoldfr/robot_descriptions_cpp
https://github.com/manifoldfr/robot_descriptions_cpp
Last synced: about 1 month ago
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- Host: GitHub
- URL: https://github.com/manifoldfr/robot_descriptions_cpp
- Owner: ManifoldFR
- Created: 2024-11-21T14:51:33.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-03-21T15:36:20.000Z (2 months ago)
- Last Synced: 2025-04-15T21:48:11.634Z (about 1 month ago)
- Language: C++
- Size: 41 KB
- Stars: 4
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# robot_descriptions_cpp [name temporary]
## Rationale
This is a library of robot description files (written in TOML) to use with the models and data provided [example-robot-data](https://github.com/gepetto/example-robot-data/).
These files contain the metadata provided by `example-robot-data`'s own [`RobotLoader` subclasses](https://github.com/Gepetto/example-robot-data/blob/master/python/example_robot_data/robots_loader.py), which are just containers for metadata (paths, URDF file name, existence of SRDF files...).
This metadata is used by the base class to build a Pinocchio `RobotWrapper` (a class only existing in Pinocchio's Python bindings) containing the Pinocchio `Model`, and both the visual and collision `GeometryModel` objects.
This library also contains functions and structs which replicate the functionality of the `example_robot_data.RobotLoader` and `pinocchio.RobotWrapper` classes.
## Installation
### Dependencies
* [example-robot-data](https://github.com/gepetto/example-robot-data/)
* [pinocchio](https://github.com/stack-of-tasks/pinocchio#citing-pinocchio)
* [googletest](https://github.com/google/googletest)
### Steps
`robot_descriptions_cpp` requires a C++17 compliant compiler.
Just follow the following steps to clone the repository and contained submodule dependencies, create a build directory, build the library and install it:
```bash
git clone https://github.com/ManifoldFR/robot_descriptions_cpp --recursive
cmake -DCMAKE_INSTALL_PREFIX=your/install/prefix -S . -B build/ && cd build/
cmake --build . -jNCPUS --target install
```
## Robot description files
Robots for each robot family (ANYmal, UR...) is described in a TOML file.
Common robot data is specified at the top-level table of the file, with overrides specified in inner tables.
```toml
free_flyer = true
ref_posture = "standing"
urdf_filename = "anymal.urdf"
srdf_filename = "anymal.srdf"
[anymal_b]
path = "anymal_b_simple_description"
[anymal_c]
urdf_subpath = "urdf"
path = "anymal_c_simple_description"
```