IHMC Robotics

ihmc-alexander-sdk

Light SDK with resources for visualizing/simulating Alex, properly initializing hardware, and communicating between low and high-level processes.

SDK Structure

alexander-models

This directory contains all files specific to describing Alex. The files in the directories are as follows:

• hardware: Contains XML files describing the hardware on the robot, including parameters for all sensors and actuators
  • For simplicity when switching robot configurations, each body segment is split into its own file to be selected if that segment is included
• meshes: Contains the OBJ and MTL files to describe each link on Alex
• mjcf: Contains XML files for use with MuJoCo
• rl_urdf: URDF files describing Alex for use in reinforcement learning applications.
• urdf: URDF files describing Alex for use in visualization/simulation within the IHMC Java Framework
  • For simplicity when switching robot configurations, each body segment is split into its own file to be selected if that segment is included

alexander-ros2

This directory contains all files specific to ROS communication between the low-level and high-level communication of Alex

• alexander_msgs: Contains all Alex-specific messages used for communication
  • The generated Java code for using these messages is contained within src/main/generated-java
• ihmc-hands-ros2: Git submodule of ihmc-hands-ros2
  • This contains URDF and OBJ files for hands used on Alex and ROS messages for communication with hands

Maintainers

• Stefan Fasano ([email protected])
• Reese Peterson ([email protected])
• Dexton Anderson ([email protected])
• Robert Griffin ([email protected])
• Duncan Calvert ([email protected])