initial forking commit

README.md

@@ -0,0 +1,67 @@
+# Franka Description
+
+## Overview
+
+The Franka Description repository offers all Franka Robotics models. It includes detailed 3D models and essential robot parameters, crucial for simulating these robots in various environments. Additionally, the repository provides a feature to create URDFs (Unified Robot Description Format) for the selected Franka robot model.
+
+## Features
+
+- **Comprehensive 3D Models**: Detailed 3D models of all Franka Robotics models for accurate simulation and visualization.
+- **Robot Parameters**: All necessary robot parameters for realistic and reliable simulations.
+- **URDF Creation**: Ability to create URDF files for any selected Franka robot model, essential for robot simulations in ROS and other robotic middleware.
+
+## Prerequisites
+
+- Docker
+
+### URDF Creation
+
+To start the generation, execute the start.sh script. The arguments passed to the sh script will be used from the create_urdf.py.
+
+```
+# Start the generation of the urdf model
+./scripts/create_urdf.sh <robot_id> <ee_id>
+```
+
+The urdf generation is performed by the create_urdf.py script which offers several parameters to customize the output urdf model:
+
+```
+usage: create_urdf.py [-h] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] [--no-prefix] robot_model
+
+Generate franka robots urdf models. Script to be executed from franka_description root folder!
+
+positional arguments:
+  robot_model          id of the robot model (accepted values are: fr3, fp3, fer, multi_arm, none)
+
+optional arguments:
+  -h, --help           show this help message and exit
+  --robot-ee           id of the robot end effector (accepted values are: franka_hand, cobot_pump)
+  --no-ee              Disable loading of end-effector (robot-ee would be ingnored if set) [WARNING: this argument will be removed in future releases, introducing "none" as ee id].
+  --with-sc            Include self-collision volumes in the urdf model.
+  --abs-path           Use absolute paths.
+  --host-dir HOST_DIR  Provide a host directory for the absolute path.
+  --only-ee            Get URDF with solely end-effector data
+  --no-prefix          Override the robot prefix of links, joints and visuals in the urdf file.
+```
+
+### Visualize via ROS2
+
+`franka_description` is offered as a ROS2 package.
+The urdf file can be visualized via RViz with the following command:
+
+```
+# visualize_franka.sh launches the visualize_franka.launch.py in a ros2 instance running in the docker container
+# The arguments given to the .sh script are forwarded as launch arguments
+# Accepted launch arguments are:
+#     arm_id - accepted values are: fr3, fp3, fer
+#     load_gripper - accepted values are: true (default ee_id is franka_hand), false (ee_id will be ignored) [WARNING: this argument will be removed in future releases, introducing "none" as ee id]
+#     ee_id - accepted values are: franka_hand, cobot_pump
+
+./scripts/visualize_franka.sh arm_id:=<robot_id> 
+
+```
+
+
+## License
+
+This project is licensed under the Apache License 2.0 - see the [LICENSE](LICENSE) file for details.