avatar_simulation

Usage

Gripper test

Run

roslaunch avatar_gripper_description test_gripper.launch

The URDF with mimic tag is used by default, to use non-mimic version, run

roslaunch avatar_gripper_description test_gripper.launch mimic:=false

to visualize the gripper in Rviz.

Single arm test

Run

roslaunch avatar_robot_description test_single_arm.launch

to visualize one single arm with gripper as the end-effector in Rviz.

The URDF with mimic tag is used by default, to use non-mimic version, run

roslaunch avatar_gripper_description test_single_arm.launch mimic:=false

Dual arm:

roslaunch avatar_robot_description test_dual_arm.launch mimic:=false

Play robot trajectory from rosbag

We recorded two rosbags stored under data folder. To play the trajectory and visualize it in Rviz, run:

rosbag play [path/to/the/bag] --clock

Single arm:

roslaunch avatar_robot_description test_single_arm.launch real_robot:=true

Dual arm:

roslaunch avatar_robot_description test_dual_arm.launch mimic:=false real_robot:=true

URDF

The URDF file will be automatically generated under the urdf folder.