Generative Bionics Robot Models

This repository includes model for robots created by Generative Bionics.

The models contained in this package are:

To simplify the use of the provided models in all tools, the provided models have been simplified and all closed loop mechanism in the robot are represented by their serial equivalent. Contact Generative Bionics (including gb-robot-models in the request text) if for your use case you need a model with a representation of the closed loop mechanisms or more information.

Package installation from source

If the gb-robot-models is not available in your preferred package manager or distribution channel, you can also install it from source.

Install via pip/uv

The gb-robot-models is a regular Python package, so it can be installed from source with the following command:

python -m pip install "git+https://github.com/gbionics/gb-robot-models.git"

or

uv add "git+https://github.com/gbionics/gb-robot-models.git"

Instal via CMake

The gb-robot-models is a regular CMake package, so it can be installed from source with the following command:

git clone https://github.com/gbionics/gb-robot-models
cd gb-robot-models
cmake -Bbuild -S. -DCMAKE_INSTALL_PREFIX=<desired_install_prefix>

Install via CMake in a colcon/ROS 2 workspace

As gb-robot-models is a regular CMake package equipped with a package.xml, so it can be built as part of regular colcon/ROS 2 workspace, for example on Linux:

mkdir -p ~/gb_robot_models_ws/src
cd ~/gb_robot_models_ws
git clone https://github.com/gbionics/gb-robot-models src/gb-robot-models
colcon build

Use directly from source repo

To use the models directly from the source repo, just add the repository folder to the AMENT_PREFIX_PATH environment variable, for example on Linux:

git clone https://github.com/gbionics/gb-robot-models
export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH}:$(pwd)/gb-robot-models

Model retrieval

Regardless of how you installed the package, the models can easily be found in Python via resolve-robotics-uri-py:

absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://gb_robot_models/robots/gene01_0/model.urdf")

or in C++ via resolve-robotics-uri-cpp:

std::optional<std::string> absolute_path = ResolveRoboticsURICpp::resolveRoboticsURI("package://gb_robot_models/robots/gene01_0/model.urdf")

or using your favorite resource retrieval system for package:// URIs, like ROS's ament_index_cpp or ament_index_py, the files installed in gb-robot-models are installed in a way that they can be found by ROS resource retriever. If you are experiencing problem on this, please open an issue.

License

This repository is licensed under the Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC-4.0) license. See the LICENSE file for the full license text.

Contact Generative Bionics (including gb-robot-models in the request text) if for your use case you need a model with a different license.