- Robot URDF Model
To view robot model on RViz
$ roslaunch opr_bringup display_xacro.launch model:='$(find opr_description)/robots/<robot version>' gui:=true
replace <robot version>
with the following robot model
- GankenKun v3
gankenkun_v3.xacro
- GankenKun v1 (no longer maintained)
gankenkun_v1.xacro
opr_description
|-CMakeLists.txt
|-meshes/
|-version1/
|-STL/
|-ARMS/
|-body_to_arm.stl
|-hand.stl
|-left_arm.stl
|-right_arm.stl
|-BODY/
|-body.stl
|-HEAD/
|-head_pitch.stl
|-head_yaw.stl
|-LEGS/
|-ankle_pitch.stl
|-back_link.stl
|-body_to_waist.stl
|-front_link.stl
|-left_ankle.stl
|-left_foot.stl
|-left_knee.stl
|-right_ankle.stl
|-right_foot.stl
|-right_knee.stl
|-waist.stl
|-version3/
|-DAE/
|-ankle_pitch_left.dae
|-ankle_pitch_right.dae
|-ankle_roll_left.dae
|-ankle_roll_right.dae
|-arm.dae
|-body.dae
|-hand.dae
|-head.dae
|-independent_pitch.dae
|-knee_pitch_left.dae
|-knee_pitch_right.dae
|-shin_pitch.dae
|-shin_pitch_mimic.dae
|-shoulder.dae
|-slider_crank.dae
|-waist_pitch.dae
|-waist_pitch_mimic.dae
|-waist_roll_left.dae
|-waist_roll_right.dae
|-waist_yaw.dae
|-STL/
|-ankle_pitch_left.stl
|-ankle_pitch_right.stl
|-ankle_roll_left.stl
|-ankle_roll_right.stl
|-arm.stl
|-body.stl
|-hand.stl
|-head.stl
|-independent_pitch.stl
|-knee_pitch_left.stl
|-knee_pitch_right.stl
|-shin_pitch.stl
|-shin_pitch_mimic.stl
|-shoulder.stl
|-slider_crank.stl
|-waist_pitch.stl
|-waist_pitch_mimic.stl
|-waist_roll_left.stl
|-waist_roll_right.stl
|-waist_yaw.stl
|-package.xml
|-README.md
|-robots/
|-gankenkun_v1.xacro
|-gankenkun_v3.xacro
|-urdf/
|-gazebo.xacro
|-materials.xacro
|-version1/
|-arms/
|-arm.gazebo.xacro
|-arm.transmission.xacro
|-left_arm.urdf.xacro
|-right_arm.urdf.xacro
|-body/
|-body.gazebo.xacro
|-body.urdf.xacro
|-head/
|-head.gazebo.xacro
|-head.transmission.xacro
|-head.urdf.xacro
|-legs/
|-left_leg.urdf.xacro
|-leg.gazebo.urdf
|-leg.transmission.xacro
|-right_leg.urdf.xacro
|-version3/
|-arms/
|-arm.gazebo.xacro
|-arm.transmission.xacro
|-left_arm.urdf.xacro
|-right_arm.urdf.xacro
|-body/
|-body.gazebo.xacro
|-body.urdf.xacro
|-head/
|-head.gazebo.xacro
|-head.transmission.xacro
|-head.urdf.xacro
|-legs/
|-left_leg.urdf.xacro
|-leg.gazebo.urdf
|-leg.transmission.xacro
|-right_leg.urdf.xacro
|-sensors/
|-camera/
|-camera.gazebo.xacro
|-camera.urdf.xacro
|-imu/
|-imu.gazebo.xacro
|-imu.urdf.xacro