Robot Models

The package provides models for the following robot types:

TriFingerEdu / FingerEdu:

Available models are:

• fingeredu.urdf

• trifingeredu.urdf

• trifingeredu_with_stage.urdf

TriFingerPro / FingerPro:

Available models are:

• fingerpro.urdf

• trifingerpro.urdf

• trifingerpro_with_stage.urdf

TriFingerOne / FingerOne:

Available models are:

• finger.urdf

• finger_with_stage.urdf

• trifinger.urdf

• trifinger_with_stage.urdf

To get the path to the directory containing the files, use get_urdf_base_path().

The models can be loaded with Kinematics to compute forward and inverse kinematics.