README.md

hsr_description

Toyota HSR

This repo combines the following two repos and gets a full 3D model of the HSR robot.

• https://github.com/ToyotaResearchInstitute/hsr_description
• https://github.com/ToyotaResearchInstitute/hsr_meshes

Clone this repo, build and source it.

catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.bash

Debug

• Replace torso.std's suffix to torso.stl

Visulization in Rviz (Ros1 noetic)

roslaunch hsr_description display.launch

Visulization in Isaac Sim

• Issac Utils -> Work Flows -> URDF Importer
• Issac Utils -> Work Flows -> Articulation Inspector -> Play(Space) -> Selection Panel -> Position/Velocity/Efforts Controllers