= REEM-C =
{{attachment:REEM-C-frontal-reduced.png||align="right",width="250"}}

''ROS Software Maintainer: PAL Robotics''

REEM-C is a commercial humanoid robot of PAL Robotics. REEM-C is an adult size humanoid (165 cm / 80 kg), and it has 44 degrees of freedom, two i7 computers, force/torque sensors on each feet and wrist, laser range sensors on both feet, stereo camera, inertial measurement unit, 2 speakers, and other devices that make REEM-C one of the best humanoid research platforms today. Optionally, a depth camera can also be attached to the head. It also has already developed software for walking, perception, manipulation, navigation and human-robot interaction which allows it to execute a wide variety of tasks. REEM-C runs on ROS internally, and uses state-of-the-art [[ros_control]] and OROCOS.

For technical questions regarding the public simulation of the robot please write to [[mailto:tiago-support@pal-robotics.com|support@pal-robotics.com]] .

If you wish to know more or request a quote, please [[http://pal-robotics.com/en/company|send us a message]] or[[http://pal-robotics.com|visit our website]].

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== Videos ==
'''Introducing REEM-C''' <<Youtube(4HZIDpNSKyc)>>

'''Walking''' <<Youtube(GeoN58vgyMk)>>

'''Whole Body Control''' <<Youtube(6q7S0SGA0Lc)>>

'''Human robot interaction''' <<Youtube(lqxTov7isio)>>

== Gallery ==
A picture is worth a thousand words:

 . {{attachment:REEM-C whole body2-reduced.jpg|REEM-C whole body2-reduced.jpg|width="250"}} {{attachment:REEM-C both hands-reduced.jpg|REEM-C both hands-reduced.jpg|width="350"}}

== Tutorials ==
A feature-rich Gazebo simulation setup for REEM-C is freely available on PAL Robotics' github page.

Instructions on how to install can be found in the [[Robots/REEM-C/Tutorials|REEM-C tutorials]] for ROS Kinetic.

Please refer to the [[pal-ros-pkg]] page for source installation instructions for other supported ROS distributions.

== Public simulation packages overview ==
This section presents an overview of the packages used in the public  simulation of REEM-C, with links to the corresponding wiki pages  describing the packages. For the installation instructions of the  packages please refer to [[Robots/REEM-C/Tutorials|REEM-C tutorials]].

=== Robot model ===
||'''Component''' ||'''ROS package/stack''' ||
||Robot model (URDF) ||[[reemc_description]] ||
||Robot controller configuration ||[[reemc_controller_configuration]] ||
||Robot bringup files ||[[reemc_bringup]] ||
||Hey5 hand model (URDF) ||[[hey5_description]] ||


=== Simulation files ===
||'''Component''' ||'''ROS package/stack''' ||
||Robot hardware simulation ||[[reemc_hardware_gazebo]] ||
||Robot controller configuration for Gazebo ||[[reemc_controller_configuration_gazebo]] ||
||Robot Gazebo models, worlds and launch scripts ||[[reemc_gazebo]] ||
||Gazebo plugins ||[[pal_gazebo_plugins]] ||


=== Hardware Drivers for simulation ===
||'''Component''' ||'''ROS package/stack''' ||
||Hardware drivers ||[[pal_hardware_gazebo]] ||


=== Messages ===
||<tablewidth="400px" tableheight="73px">'''Component''' ||'''ROS package/stack''' ||
||PAL specific messages ||[[pal_msgs]] ||


=== Controllers ===
||'''Component''' ||'''ROS package/stack''' ||
||ros_control overlay ||[[ros_control]] ||
||ros_controllers overlay ||[[ros_controllers]] ||
||gazebo_ros_control overlay ||[[gazebo_ros_control]] ||


=== High-Level Capabilities ===
||'''Component''' ||'''ROS package/stack''' ||
||Play back of pre-defined motions ||[[play_motion]] ||
||Joystick teleoperation interface ||[[joy_teleop]] ||
||MoveIt! package ||reemc_moveit_config ||
||Point head action ||[[head_action]] ||


== Related Repositories ==
[[https://github.com/pal-robotics|PAL Robotics GitHub organization]]