legacy-teo-gazebo

This repository contains the needed files to run an stand-alone simulation of the UC3M humanoid robot teo. (legacy code)

Dependencies

• Clone teo-gazebo in your pc

  cd; mkdir -p repos; cd repos  # make $HOME/repos if it doesn't exist; then, enter it
  git clone https://github.com/roboticslab-uc3m/teo-gazebo

Installation steps

1. Clone this repository in your pc.

   cd; mkdir -p repos; cd repos  # make $HOME/repos if it doesn't exist; then, enter it
   git clone https://github.com/roboticslab-uc3m/teo-gazebo

2. Copy the teo_model and teo_meshes folders in your local Gazebo model database (~/.gazebo/models/), from root enter:

   cd; cd .gazebo; mkdir -p models
   cd; cd repos/teo-gazebo
   cp -r teo_meshes ~/.gazebo/models/
   cp -r teo_model ~/.gazebo/models/
   

Starting the simulation

Enter the following command in the root of your clone directory environment.

gazebo teo.world

NOTES:

• This repository is intended to be a gazebo stand-alone repository. All the additional no-gazebo plugins are not implemented. This is the case for example of the control. In order to avoid the model to continously fall, a fictional joint between the robot waist and the world have been generated. This joint is called "base_joint", and deleting this joint is as easy as commenting it out in the .sdf file.
• This repository uses a modified robot description from the following repository https://github.com/roboticslab-uc3m/teo_robot.