URDF Files for Humanoid Robots of the ARMAR Family

This repository provides (unofficial) URDF files for some of the humanoid robots of the ARMAR family.

Supported Robots

As of now, the following robots are supported:

	robot_name	DOF	Description
	armar4	52	The humanoid robot Armar 4 with a fixed head.
	armar4_fixed_hands	30	Like armar4, but with rigid hands.
	armar4_fixed_hands_and_legs	18	Like armar4, but with rigid hands and fixed legs.
	armar6	17	The humanoid robot Armar 6 with a fixed head and rigid hands.
	armar6_front	17	Like armar6, but the position of continuous joints is restricted such that the hands are mostly in front of the robot.
	armar6_x4	33	A four-armed version of Armar 6 with a fixed head and rigid hands.
	armar6_x4_front	33	Like armar6_x4, but the position of continuous joints is restricted such that the hands are mostly in front of the robot.

The corresponding URDF files can be found in the description directory. As shown below, it is also possible to access the models directly from python.

Installation

pip install armar

Usage

The following example shows how to receive the absolute path of a URDF file from python:

import armar
armar.get_path_to_urdf_file(robot_name="armar6")

Example: Models controlled by a Neural Network

Acknowledgment and Disclaimer

The robots of the ARMAR family are designed and developed by the Chair of High Performance Humanoid Technologies (H²T) at the Karlsruhe Institute of Technology (KIT). The URDF files provided in this repository are based on models provided by the Chair of High Performance Humanoid Technologies. The four-armed version of Armar 6 is not an official part of the ARMAR family developed at H²T.

License

The files of this repository are licensed under the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.