r1-models

This repository hosts the configuration files for generating R1Mk3 urdf.

Installation

Dependencies

Before installing r1-models, please be sure that you've installed YARP 3.10.0 or higher on your machine.

Both in gazebo and gz-sim, these models need that cerDoubleLaser has been installed in the machine.

R1Mk3 for Gazebo Classic simulation model needs a gazebo-yarp-plugins latest master.

In order to use the model, the following env variables must be configured:

# R1Mk3 model in YARP
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<install-prefix>/share/R1Mk3
# R1Mk3 model in Gazebo
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/R1Mk3/robots
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/

In order to make the device couplingXCubHandMk5 detectable, add <installation_path>/share/yarp to the YARP_DATA_DIRS environment variable of the system.

Alternatively, if YARP has been installed using the robotology-superbuild, it is possible to use <directory-where-you-downloaded-robotology-superbuild>/build/install as the <installation_path>.

To use R1Mk3 models with gz sim, instead, you can rely on gz-sim-yarp-plugins and the following env variable mush be configured:

export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:<install-prefix>/share/R1Mk3/robots

Compiling from source

For installing it just:

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<install-prefix> ..
make
(make install)

Usage with gz-sim

For using the models stored in this repository in gz-sim, it is needed a world file that imports these plugins:

      <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
      <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
      <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
      <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"/>

URDF generation

To generate the URDF, you need to have access to the cad-mechanics repo (that is currently private, if you need access ask it to the r1-models mantainer) and install the following repos and software:

• You need to install the version of Creo required by cad-mechanics.
• You need to install the repos that contain the CAD models, i.e. cad-libraries (see https://github.com/icub-tech-iit/cad-libraries/wiki/Configure-PTC-Creo-with-cad-libraries) and cad-mechanics https://github.com/icub-tech-iit/cad-mechanics/.
• You need to install creo2urdf following the README in https://github.com/icub-tech-iit/creo2urdf, either from source or using the binary available for each release.

Note

For generating R1Mk3 URDF creo2urdf v0.4.8 or greater is needed

The CAD files used to generate the URDF models have been prepare according to the procedure described in https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF .

You can find there the relative documentation on how write those configuration files, and more details in the README of the following folders:

• urdf/creo2urdf/data/R1Mk3

Maintainers

This repository is maintained by:

	@Nicogene
	@martinaxgloria