RobotDescriptions

This small package provides URDF and meshes for robots, as well as a convenience function for creating a RigidBodyDynamics.Mechanism.

Install

(v1.0) pkg> add https://github.com/phelipe/RobotDescriptions.jl

Usage

• Get a RigidBodyDynamics.Mechanism of a robot.

julia> robot =  getmechanism("kukalwr")

• Get a MechanismGeometries.URDF.URDFVisuals of a robot.

julia> visual = getvisual("kukalwr")

• Get a RigidBodyDynamics.Mechanism and MechanismGeometries.URDF.URDFVisuals of a robot.

julia> robot, visual = getrobot("kukalwr")

Robotss

Robot	name
Universal robot ur5	ur5
Generic Acrobot	acrobot
KUKA LWR 4 +	kuka-lwr-4plus
PUMA 560	puma560
DENSO VS -060	denso060