This repository includes model for robots created by Generative Bionics.
The models contained in this package are:
| Robot Name | URI |
|---|---|
| GENE.01 1.0 | package://gb_robot_models/robots/gene01_0/model.urdf |
To simplify the use of the provided models in all tools, the provided models have been simplified and all closed loop mechanism in the robot are represented by their serial equivalent. Contact Generative Bionics (including gb-robot-models in the request text) if for your use case you need a model with a representation of the closed loop mechanisms or more information.
To visualize the robot model without installing the model explicitly, just install uv or pixi, and run the following commands.
uvx --with rerun-sdk gb-robot-models show-in-rerun package://gb_robot_models/robots/gene01_0/model.urdf
pixi exec -c conda-forge -c robostack-jazzy -s gb-robot-models -s ros-jazzy-desktop ros2 launch gb_robot_models display.launch.py
To simplify the use of models in existing pipelines, the Generative Bionics robot models are available in different package managers and distribution platforms. If you would like for the models to be available in a channel not mentioned here, please open an issue.
pixi add gb-robot-modelsor
conda create -n gb-robot-models gb-robot-modelsuv pip install gb-robot-modelsor
pip install gb-robot-modelsWarning
Supporting the installation of models with sudo apt install ros-<distro>-gb-robot-models is tracked in #3 .
Even if gb-robot-models still needs to be packaged as apt binary package, as gb-robot-models is a regular CMake package equipped with a package.xml, so it can be built from source as part of regular colcon/ROS 2 workspace, for example on Linux:
mkdir -p ~/gb_robot_models_ws/src
cd ~/gb_robot_models_ws
git clone https://github.com/gbionics/gb-robot-models src/gb-robot-models
colcon buildIf the gb-robot-models is not available in your preferred package manager or distribution channel, you can also install it from source, following the documentation available in install_from_source.md
Regardless of how you installed the package, the models can easily be found in Python via resolve-robotics-uri-py:
absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://gb_robot_models/robots/gene01_0/model.urdf")or in C++ via resolve-robotics-uri-cpp:
std::optional<std::string> absolute_path = ResolveRoboticsURICpp::resolveRoboticsURI("package://gb_robot_models/robots/gene01_0/model.urdf")or using your favorite resource retrieval system for package:// URIs, like ROS's ament_index_cpp or ament_index_py, the files installed in gb-robot-models are installed in a way that they can be found by ROS resource retriever. If you are experiencing problem on this, please open an issue.
This repository is licensed under the Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC-4.0) license. See the LICENSE file for the full license text.
Contact Generative Bionics (including gb-robot-models in the request text) if for your use case you need a model with a different license.