This package extends JRL Dynamics to load URDF models.

jrl-dynamics is an open source library dedicated to dynamics and kinematics computation for robotics and in particular humanoids robots. It relies on abstract-robot-dynamics packages defining the C++ interface.

See sot_pr2 to learn how to use the PR-2 URDF model with the dynamic-graph and stack of tasks control framework.

jrl-dynamics models specificities

The loader automatically adds a free floating joint as the root joint of the kinematic tree in order to link the world frame origin to the robot root body (i.e. base_link).

jrl-dynamics also requires additional data to define foot and hand parameters. These information are not setted currently.

Displaying robots structure in a console

Three robots are supported currently. Make sure that the required packages are available on your system as the packages does not directly depend on them:

• PR-2 (requires pr2_mechanism_model),

• Nao (requires nao_description),

• Romeo (requires romeo_description),

• HRP-2 (requires hrp2_14_description).

They can be respectively loaded using:

rosrun jrl_dynamics_urdf display-pr2
rosrun jrl_dynamics_urdf display-nao
rosrun jrl_dynamics_urdf display-hrp2
rosrun jrl_dynamics_urdf display-romeo