jvrc_description 1.1.0

URDF description of the JVRC humanoid model.

JVRC humanoid robot model

This package contains the robot description for the JVRC-1 model, a virtual humanoid robot released for education and research.

Python module

This module helps retrieve the JVRC-1 model from a Python program. Import it by:

import jvrc_description

It then provides the following paths:

jvrc_description.path

Path to the jvrc_description folder itself.

jvrc_description.meshes_path

Path to the meshes folder.

jvrc_description.urdf_path

Path to the jvrc1.urdf URDF file of the model.

Show and tell

Feel free to open a PR to share what you have done with this model.

Date	Topic	Screenshot
2019	Docker image of a walking controller in simulation — Snapshot of a whole-body controller used on the HRP-4 humanoid to walk and climb stairs. This image includes a fully functional build and simulation environment where you can try the controller on the JVRC model.
2016	Task-based inverse kinematics in Python — A whole-body inverse kinematics based on the weight-prioritized multi-task framework. Tasks include foot-surface contacts, center of mass or centroidal momentum control. Depends on OpenRAVE.