This repository contains classes of different robot descriptions for the usage with the gafro library.

Currently available robots: - FrankaEmikaRobot - AnymalC - Atlas - LeapHand - UR5

The descriptions and mesh files are located in the assets folder.

Installation

mkdir build && cd build
cmake ..
make
sudo make install

Usage

Link to this library.

find_package(gafro_robot_descriptions)
target_link_libraries(TARGET gafro_robot_descriptions::gafro_robot_descriptions)

Include the header.

#include <gafro_robot_descriptions/gafro_robot_descriptions.hpp>

Load a specific robot e.g.

gafro::FrankaEmikaRobot<double> panda;