Reachy description

This ROS package contains URDF and collada files to use the Reachy robot with ROS1 Noetic.

Quickstart

Launch the following command in order to run RViz, visualize the robot and move the joints:

roslaunch reachy_description display.launch gui:=True

If you are not using the Advanced Reachy configuration, you may disable parts of the robot, e.g. for the Basic configuration:

roslaunch reachy_description display.launch gui:=True left_arm:=false head:=false

Get the URDF of Reachy

Option 1. Generate the URDF by choosing your effector (preferred)

Invoke xacro by passing the desired effector as an argument and redirect the output to an URDF file:

roscd reachy_description

# For the Advanced configuration:
xacro reachy.URDF.xacro >reachy.URDF

# For the Expressive configuration:
xacro reachy.URDF.xacro left_arm:=false >reachy.URDF

# For the Basic configuration:
xacro reachy.URDF.xacro left_arm:=false head:=false >reachy.URDF

Note: If you're using higher level package such as reachy_moveit_config, the configuration is propagated to xacro. Thus there is no need to execute xacro by hand if you do not intend to work directly with the URDF.

Option 2. Use a static URDF (will not be customized to your config)

If you do not want to execute xacro by yourselves, you may use the static file reachy.URDF which is the output of xacro generated fo the Advanced configuration (full body: head + left arm + right arm).

Roadmap/CFC

• Center joints at the center of motor axes
  • Avoid manual editing: will invalidate inertias
  • Display tf frames and clean up overlaps
• Correct right/left arm symmetry