/ur_description

Package with an ur-5 robot in a cluttered environment

Primary LanguagePython

ur_description

This package containts a problem for motion planning: a 6-DoF universal robot arm that should move its end effector (holding a cylinder object) through a window and between two cylinders.

The package contains:

  • URDF/SRDF/class files describing the objects,

  • Some Python scripts going along with HPP software (github.com/humanoid-path-planner) for motion planning,

The problem can be vizualised with HPP-gepetto-viewer (github.com/humanoid-path-planner) or with RViz (must create .launch files).

To install the package with cmake, simply:

  • Create a 'build' directory in the source package,

  • in the created /build, configure the package - particularly the 'install path variable' - and install it with 'ccmake ..' and 'make install'.