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Simple Humanoid Description

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simple_humanoid_description provides URDF, SRDF model information for the simple_humnaoid robot.

URDF

The URDF file is only available for the default model. It contains the kinematic model of the robot. No meshes are present inside this repository

SRDF

The SRDF file is only available for the default model. It contains the collision pairs which can be safely disabled and the default robot configuration called "half_sitting". It also contains adiditonnal information like the position of the ankle in the foot frame and the size of the foot.

Code API

This package does not provide API.