Robot Properties Talos

What it is

URDF and ROS integration of PAL Robotic's TALOS robot

Installation

1. Install Pinocchio if you have not done so already.

   The simplest way to do so is using Conda:

   conda install -c conda-forge pinocchio
   

   Alternatively you can use any of the ways listed here: https://stack-of-tasks.github.io/pinocchio/download.html.

2. Install bullet_utils:

git clone git@github.com:machines-in-motion/bullet_utils.git
cd bullet_utils
pip3 install .

3. Install robot_properties_talos:

git clone git@gitlab.is.tue.mpg.de:robotics/robot_properties_talos.git
cd robot_properties_talos
pip3 install .

Examples

Loading Talos left arm in PyBullet

import pybullet as p
from bullet_utils.env import BulletEnvWithGround
from robot_properties_talos.talosArmWrapper import TalosArmRobot

env = BulletEnvWithGround(p.GUI)
robot = env.add_robot(TalosArmRobot())

Loading Talos reduced model in PyBullet

import pybullet as p
from bullet_utils.env import BulletEnvWithGround
from robot_properties_talos.talosReducedWrapper import TalosReducedRobot

env = BulletEnvWithGround(p.GUI)
robot = env.add_robot(TalosReducedRobot())

Authors

• Maximilien Naveau
• Sébastien Kleff

Copyrights

Copyright(c) 2018-2023 Max Planck Gesellschaft, New York University

License

BSD 3-Clause License