This package contains a robot description (URDF) of Berkeley Humanoid developed by Hybrid Robotics .
This software is released under a BSD 3-Clause license.
Load the Berkeley Humanoidescription to the ROS parameter server:
roslaunch berkeley_humanoid_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: joint_state_publisher, joint_state_publisher_gui ,robot_state_publisher, rviz):
roslaunch berkeley_humanoid_description standalone.launch
-
load.launch: Loads the URDF to the parameter server. Meant to be included in higher level launch files. -
standalone.launch: A standalone launch file that starts RViz and a joint state publisher to debug the description.
Q: Why doesn't the maximum torque of each joint match the values in the paper?
A: The maximum torque is limited for safety reasons.
Q: Where is the arm?
A: This version of the robot is focused on locomotion research. We are currently developing and testing the arm.