<> <> <> == Disclaimer and condition of use == '''Disclaimer''': this stack is not maintained by Aldebaran Robotics. Stack maintainers do not hold copyright for the model information. This stack is based on [[http://projetromeo.com/index_en.html|information freely available]] and is distributed with Aldebaran Robotics permission. If you are using this robot to illustrate a document such as a scientific publication, you should include the following copyright notice: "(c) Aldebaran Robotics" near the figure. == Documentation == Romeo is a 140-cm humanoid robot designed by [[http://www.aldebaran-robotics.com/|Aldebaran Robotics]]. This package contains the following information: * [[urdf_parser|URDF model]] defining the robot kinematic chain and actuators/sensors information, * [[srdf|SRDF model]] containing the robot reference configuration and collision pairs. * [[rcpdf|RCPDF]] containing contact information (sole and toe information). '''The current model is based on the robot model v1.0.''' === Additional information === |||| '''Stepping information with static toes''' |||| || Maximum forward step (X axis / front-rear) || 0.245m (safe) / 0.32m (unsafe) || || Maximum lateral step (Y axis / left-right) || 0.316141m || == URDF model == The URDF model contains the kinematic chain and meshes information. The following screenshot has been taken in rviz with tf tree frame location indicated. The pose is set to 0 for all degrees of freedom here. {{attachment:romeo.jpg|Romeo in RViz|width=400}} The robot frames naming scheme follows the [[http://www.ros.org/reps/rep-0105.html|REP 105]] and [[http://www.ros.org/reps/rep-0120.html|REP 120]] documents. Normalized naming can be considered as stable, intermediate links naming may change when the package is updated. {{attachment:frames.jpg|Romeo tf frames|width=1600}} == SRDF model == The SRDF model contains the half-sitting reference pose called `half_sitting`. It is meant to used as a statically stable posture where the center of mass is near the robot waist. It can be used to safely initialize optimization problems or planning algorithms. == RCPDF model == To be done. ## AUTOGENERATED DON'T DELETE ## CategoryPackage