Set of SDF files to simulate various humanoids at GEPETTO on Gazebo (GZ)

Install

Let us assume that you have a workspace directory ${WS_DIR}

source /opt/ros/jazzy/setup.bash
cd ${WS_DIR}
mkdir -p src
cd src
git clone https://gitlab.laas.fr/ostasse/gz_gepetto_humanoids_models.git

Environment variables

Resource path

Gazebo Fortress

export IGN_GAZEBO_RESOURCE_PATH=${WS_DIR}/src/gz_gepetto_humanoids_models

Gazebo Harmonic

export GZ_SIM_RESOURCE_PATH=${WS_DIR}/src/gz_gepetto_humanoids_models

Plugins

Gazebo Harmonic (24.04LTS)

export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ros/jazzy/lib

TALOS

The recommended one is the last one.

With DART physical library

Starting TALOS simulation without ROS-2

gz sim ./empty_talos_gz.sdf

With Bullet Featherstone physical library

gz sim --physics-engine gz-physics7-bullet-featherstone-plugin ./empty_talos_gz.sdf

With Bullet Featherstone physical library and local plugin ApplyJointsForces

 gz sim --physics-engine gz-physics7-bullet-featherstone-plugin ./empty_talos/empty_talos_gz_wo_ros2_control_ajsfs.sdf