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