raveurdf

an openRAVE plugin to load a given URDF file.

What does it do?

• loads a given URDF file into openRAVE as OpenRAVE::RobotBase.
• however, please ensure that the URDF has only one robot.
• loads static meshes too.
• exploits builtin openRAVE helpers for Collada export.

Demo

the plugin uses a Franka Robot for demonstration purposes.

• clone the repository.
• build the plugin.

  $ cd <path/to/repo/on/local/machine>
  $ make
  $ python3 test_plugin.py

Dependencies

the plugin needs the following to be installed on your machine.

• python3
• openRAVE. Please install the dependencies listed in the ci.yaml before building from source.
• TinyXML2

  $ git clone https://github.com/leethomason/tinyxml2.git
  $ cd tinyxml2
  $ mkdir build && cd build
  $ cmake ..
  $ make
  $ sudo make install

• urdf libraries

  $ sudo apt install liburdf*