This repository provides (unofficial) URDF files for some of the humanoid robots of the ARMAR family.
As of now, the following robots are supported:
| robot_name | DOF | Description | |
|---|---|---|---|
 |
armar4 | 52 | The humanoid robot Armar 4 with a fixed head. |
| armar4_fixed_hands | 30 | Like armar4, but with rigid hands. | |
| armar4_fixed_hands_and_legs | 18 | Like armar4, but with rigid hands and fixed legs. | |
 |
armar6 | 17 | The humanoid robot Armar 6 with a fixed head and rigid hands. |
| armar6_front | 17 | Like armar6, but the position of continuous joints is restricted such that the hands are mostly in front of the robot. | |
 |
armar6_x4 | 33 | A four-armed version of Armar 6 with a fixed head and rigid hands. |
| armar6_x4_front | 33 | Like armar6_x4, but the position of continuous joints is restricted such that the hands are mostly in front of the robot. |
The corresponding URDF files can be found in the description directory. As shown below, it is also possible to access the models directly from python.
pip install armar
The following example shows how to receive the absolute path of a URDF file from python:
import armar
armar.get_path_to_urdf_file(robot_name="armar6")Exemplary applications and further renderings can be found in our safeMotions and our pathTracking repositories.
The robots of the ARMAR family are designed and developed by the Chair of High Performance Humanoid Technologies (H²T) at the Karlsruhe Institute of Technology (KIT). The URDF files provided in this repository are based on models provided by the Chair of High Performance Humanoid Technologies. The four-armed version of Armar 6 is not an official part of the ARMAR family developed at H²T.
The files of this repository are licensed under the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.