MMM model port to gazebo and NRP
Authors: J. Camilo Vasquez Tieck, Tristan Schnell
Contents
mmm_robot.urdf / mmm_robot.sdf: regular version of MMM model with enabled collision that stands balanced
mmm_robot_anchored.urdf / mmm_robot_anchored.sdf: anchored model with disabled collisions that is used to play motions
publishmotion.py: allows publishing of a motion or single motion frames
Installation
For usage with Gazebo:
- Clone into catkin workspace
- catkin_make
For usage with the NRP:
- Clone into Models folder
- Rerun create_symlinks and deploy
Usage
Gazebo:
- Import/spawn mmm_robot.urdf in Gazebo.
- E.g. export GAZEBO_MODEL_PATH=~/catkin_ws/src/
-
Download a motion from KIT Whole-Body Motion Database (or use the included motion)
-
rosrun mmm_motion publishmotion.py
- run with --help for list of options
- for defaults to work, run from folder containing walk_neutral02.xml
NRP: Only used as ressource for the MMM experiments
References
https://gitlab.com/mastermotormap/mmmcore https://gitlab.com/mastermotormap/mmmtools https://motion-database.humanoids.kit.edu/