diff --git a/robots/g1_description/CMakeLists.txt b/robots/g1_description/CMakeLists.txt deleted file mode 100644 index 6b8e614..0000000 --- a/robots/g1_description/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(g1_description) - -find_package(catkin REQUIRED) - -catkin_package() - -find_package(roslaunch) - -foreach(dir launch meshes) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md index e9f736a..21ca30f 100644 --- a/robots/g1_description/README.md +++ b/robots/g1_description/README.md @@ -5,54 +5,18 @@ This package includes a streamlined robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).

- + + + +

-Current G1 have 37 DOFs: +As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot: -```text -root [⚓] => /pelvis/ - left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/ - left_hip_roll_joint [⚙+X] => /left_hip_roll_link/ - left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/ - left_knee_joint [⚙+Y] => /left_knee_link/ - left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/ - left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/ - right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/ - right_hip_roll_joint [⚙+X] => /right_hip_roll_link/ - right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/ - right_knee_joint [⚙+Y] => /right_knee_link/ - right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/ - right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/ - torso_joint [⚙+Z] => /torso_link/ - left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/ - left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/ - left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/ - left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/ - left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/ - left_palm_joint [⚓] => /left_palm_link/ - left_zero_joint [⚙+Y] => /left_zero_link/ - left_one_joint [⚙+Z] => /left_one_link/ - left_two_joint [⚙+Z] => /left_two_link/ - left_three_joint [⚙+Z] => /left_three_link/ - left_four_joint [⚙+Z] => /left_four_link/ - left_five_joint [⚙+Z] => /left_five_link/ - left_six_joint [⚙+Z] => /left_six_link/ - right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/ - right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/ - right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/ - right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/ - right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/ - right_palm_joint [⚓] => /right_palm_link/ - right_zero_joint [⚙+Y] => /right_zero_link/ - right_one_joint [⚙+Z] => /right_one_link/ - right_two_joint [⚙+Z] => /right_two_link/ - right_three_joint [⚙+Z] => /right_three_link/ - right_four_joint [⚙+Z] => /right_four_link/ - right_five_joint [⚙+Z] => /right_five_link/ - right_six_joint [⚙+Z] => /right_six_link/ - imu_joint [⚓] => /imu_link/ -``` +* `g1_23dof` +* `g1_29dof` +* `g1_29dof_with_hand` +* `g1_dual_arm` ## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) @@ -63,4 +27,4 @@ root [⚓] => /pelvis/ python -m mujoco.viewer ``` -2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer. +2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer. diff --git a/robots/g1_description/config/robot_control.yaml b/robots/g1_description/config/robot_control.yaml deleted file mode 100755 index 102e999..0000000 --- a/robots/g1_description/config/robot_control.yaml +++ /dev/null @@ -1,125 +0,0 @@ -g1_gazebo: - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 1000 - - torso_controller: - type: unitree_legged_control/UnitreeJointController - joint: torso_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - # left leg Controllers --------------------------------------- - left_hip_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_hip_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_hip_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_hip_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_hip_yaw_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_hip_yaw_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_knee_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_knee_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_ankle_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_ankle_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_ankle_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_ankle_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - # right leg Controllers --------------------------------------- - right_hip_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_hip_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_hip_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_hip_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_hip_yaw_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_hip_yaw_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_knee_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_knee_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_ankle_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_ankle_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_ankle_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_ankle_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - - # left arm Controllers --------------------------------------- - left_shoulder_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_shoulder_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_shoulder_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_shoulder_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_shoulder_yaw_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_shoulder_yaw_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_elbow_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_elbow_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - left_elbow_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: left_elbow_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - # right arm Controllers --------------------------------------- - right_shoulder_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_shoulder_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_shoulder_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_shoulder_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_shoulder_yaw_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_shoulder_yaw_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_elbow_pitch_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_elbow_pitch_joint - pid: {p: 100.0, i: 0.0, d: 5.0} - - right_elbow_roll_controller: - type: unitree_legged_control/UnitreeJointController - joint: right_elbow_roll_joint - pid: {p: 100.0, i: 0.0, d: 5.0} \ No newline at end of file diff --git a/robots/g1_description/g1.png b/robots/g1_description/g1.png deleted file mode 100644 index 78d2a0d..0000000 Binary files a/robots/g1_description/g1.png and /dev/null differ diff --git a/robots/g1_description/g1.urdf b/robots/g1_description/g1.urdf deleted file mode 100644 index 5723b00..0000000 --- a/robots/g1_description/g1.urdf +++ /dev/null @@ -1,1305 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/robots/g1_description/g1_23dof.urdf b/robots/g1_description/g1_23dof.urdf new file mode 100644 index 0000000..796ffe2 --- /dev/null +++ b/robots/g1_description/g1_23dof.urdf @@ -0,0 +1,880 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robots/g1_description/g1_23dof.xml b/robots/g1_description/g1_23dof.xml new file mode 100644 index 0000000..a0c8f25 --- /dev/null +++ b/robots/g1_description/g1_23dof.xml @@ -0,0 +1,246 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robots/g1_description/g1_29dof.urdf b/robots/g1_description/g1_29dof.urdf new file mode 100644 index 0000000..ccc84aa --- /dev/null +++ b/robots/g1_description/g1_29dof.urdf @@ -0,0 +1,1063 @@ + + + + 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a/robots/g1_description/g1_29dof_with_hand.urdf b/robots/g1_description/g1_29dof_with_hand.urdf new file mode 100644 index 0000000..32e151a --- /dev/null +++ b/robots/g1_description/g1_29dof_with_hand.urdf @@ -0,0 +1,1481 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robots/g1_description/g1_joint_index_dds.md b/robots/g1_description/g1_joint_index_dds.md new file mode 100644 index 0000000..0c8b535 --- /dev/null +++ b/robots/g1_description/g1_joint_index_dds.md @@ -0,0 +1,115 @@ +# 电机顺序 + +## G1 全身关节电机顺序 + +`unitree_hg::msg::dds_::LowCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::LowState_.motor_state` 包含 G1 全身电机（不含手）的信息，其电机顺序如下： + +### 23DOF 版本 + +| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) | +| ------------------ | ------------------------------------------------ | ------------------------------------------------ | +| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH | +| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL | +| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW | +| 3 | L_LEG_KNEE | L_LEG_KNEE | +| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** | +| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** | +| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH | +| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL | +| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW | +| 9 | R_LEG_KNEE | R_LEG_KNEE | +| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** | +| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** | +| 12 | TORSO | TORSO | +| 13 | L_SHOULDER_PITCH | L_SHOULDER_PITCH | +| 14 | L_SHOULDER_ROLL | L_SHOULDER_ROLL | +| 15 | L_SHOULDER_YAW | L_SHOULDER_YAW | +| 16 | L_ELBOW_PITCH | L_ELBOW_PITCH | +| 17 | L_ELBOW_ROLL | L_ELBOW_ROLL | +| 18 | R_SHOULDER_PITCH | R_SHOULDER_PITCH | +| 19 | R_SHOULDER_ROLL | R_SHOULDER_ROLL | +| 20 | R_SHOULDER_YAW | R_SHOULDER_YAW | +| 21 | R_ELBOW_PITCH | R_ELBOW_PITCH | +| 22 | R_ELBOW_ROLL | R_ELBOW_ROLL | + +### 29DOF 版本 + +| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) | +| ------------------ | ------------------------------------------------ | ------------------------------------------------ | +| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH | +| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL | +| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW | +| 3 | L_LEG_KNEE | L_LEG_KNEE | +| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** | +| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** | +| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH | +| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL | +| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW | +| 9 | R_LEG_KNEE | R_LEG_KNEE | +| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** | +| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** | +| 12 | WAIST_YAW | WAIST_YAW | +| 13 | **WAIST_ROLL** | **WAIST_A** | +| 14 | **WAIST_PITCH** | **WAIST_B** | +| 15 | L_SHOULDER_PITCH | L_SHOULDER_PITCH | +| 16 | L_SHOULDER_ROLL | L_SHOULDER_ROLL | +| 17 | L_SHOULDER_YAW | L_SHOULDER_YAW | +| 18 | L_ELBOW | L_ELBOW | +| 19 | L_WRIST_ROLL | L_WRIST_ROLL | +| 20 | L_WRIST_PITCH | L_WRIST_PITCH | +| 21 | L_WRIST_YAW | L_WRIST_YAW | +| 22 | R_SHOULDER_PITCH | R_SHOULDER_PITCH | +| 23 | R_SHOULDER_ROLL | R_SHOULDER_ROLL | +| 24 | R_SHOULDER_YAW | R_SHOULDER_YAW | +| 25 | R_ELBOW | R_ELBOW | +| 26 | R_WRIST_ROLL | R_WRIST_ROLL | +| 27 | R_WRIST_PITCH | R_WRIST_PITCH | +| 28 | R_WRIST_YAW | R_WRIST_YAW | + +### 14DOF 双臂版本 + +| Joint Index in IDL | Joint Name | +| ------------------ | ---------------- | +| 0 | (empty) | +| 1 | (empty) | +| 2 | (empty) | +| 3 | (empty) | +| 4 | (empty) | +| 5 | (empty) | +| 6 | (empty) | +| 7 | (empty) | +| 8 | (empty) | +| 9 | (empty) | +| 10 | (empty) | +| 11 | (empty) | +| 12 | (empty) | +| 13 | (empty) | +| 14 | (empty) | +| 15 | L_SHOULDER_PITCH | +| 16 | L_SHOULDER_ROLL | +| 17 | L_SHOULDER_YAW | +| 18 | L_ELBOW | +| 19 | L_WRIST_ROLL | +| 20 | L_WRIST_PITCH | +| 21 | L_WRIST_YAW | +| 22 | R_SHOULDER_PITCH | +| 23 | R_SHOULDER_ROLL | +| 24 | R_SHOULDER_YAW | +| 25 | R_ELBOW | +| 26 | R_WRIST_ROLL | +| 27 | R_WRIST_PITCH | +| 28 | R_WRIST_YAW | + +## Dex3-1 关节电机顺序 + +`unitree_hg::msg::dds_::HandCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::HandState_.motor_state` 包含所有的灵巧手电机的信息，其电机顺序如下： + +| Hand Joint Index in IDL | Hand Joint Name | +| ----------------------- | --------------- | +| 0 | thumb_0 | +| 1 | thumb_1 | +| 2 | thumb_2 | +| 3 | index_0 | +| 4 | index_1 | +| 5 | middle_0 | +| 6 | middle_1 | diff --git a/robots/g1_description/images/g1_23dof.png b/robots/g1_description/images/g1_23dof.png new file mode 100644 index 0000000..e4ed4f2 Binary files /dev/null and b/robots/g1_description/images/g1_23dof.png differ diff --git a/robots/g1_description/images/g1_29dof.png b/robots/g1_description/images/g1_29dof.png new file mode 100644 index 0000000..911c886 Binary files /dev/null and b/robots/g1_description/images/g1_29dof.png differ diff --git a/robots/g1_description/images/g1_29dof_with_hand.png b/robots/g1_description/images/g1_29dof_with_hand.png new file mode 100644 index 0000000..c49d939 Binary files /dev/null and b/robots/g1_description/images/g1_29dof_with_hand.png differ diff --git a/robots/g1_description/images/g1_dual_arm.png b/robots/g1_description/images/g1_dual_arm.png new file mode 100644 index 0000000..8dd9a5d Binary files /dev/null and b/robots/g1_description/images/g1_dual_arm.png differ diff --git a/robots/g1_description/launch/check_joint.rviz b/robots/g1_description/launch/check_joint.rviz deleted file mode 100644 index 1eaf8e9..0000000 --- a/robots/g1_description/launch/check_joint.rviz +++ /dev/null @@ -1,239 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 719 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - pelvis: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - hip_rotation_link_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hip_abduction_link_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hip_flexion_link_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - knee_link_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ankle_link_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - hip_rotation_link_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hip_abduction_link_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hip_flexion_link_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - knee_link_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ankle_link_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - pelvis: - Value: true - hip_rotation_link_left: - Value: true - hip_abduction_link_left: - Value: true - hip_flexion_link_left: - Value: true - knee_link_left: - Value: true - ankle_link_left: - Value: true - hip_rotation_link_right: - Value: true - hip_abduction_link_right: - Value: true - hip_flexion_link_right: - Value: true - knee_link_right: - Value: true - ankle_link_right: - Value: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - pelvis: - hip_rotation_link_left: - hip_abduction_link_left: - hip_flexion_link_left: - knee_link_left: - ankle_link_left: - {} - hip_rotation_link_right: - hip_abduction_link_right: - hip_flexion_link_right: - knee_link_right: - ankle_link_right: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: pelvis - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 1.6701574325561523 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0.11145864427089691 - Y: 0.10033124685287476 - Z: -0.35909000039100647 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5303982496261597 - Target Frame: - Yaw: 0.8653979301452637 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1868 - X: 52 - Y: 27 diff --git a/robots/g1_description/launch/display.launch b/robots/g1_description/launch/display.launch deleted file mode 100644 index b0c7afe..0000000 --- a/robots/g1_description/launch/display.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/robots/g1_description/launch/gazebo.launch b/robots/g1_description/launch/gazebo.launch deleted file mode 100755 index 1885fa5..0000000 --- a/robots/g1_description/launch/gazebo.launch +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/g1_description/meshes/head_link.STL b/robots/g1_description/meshes/head_link.STL index 455274f..3c41c58 100644 Binary files a/robots/g1_description/meshes/head_link.STL and b/robots/g1_description/meshes/head_link.STL differ 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0000000..7d36b02 Binary files /dev/null and b/robots/g1_description/meshes/waist_yaw_link.STL differ diff --git a/robots/g1_description/package.xml b/robots/g1_description/package.xml deleted file mode 100644 index 974fcf7..0000000 --- a/robots/g1_description/package.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - g1_description - 1.0.0 - The Unitree G1 Description Package - - TODO - catkin - roslaunch - robot_state_publisher - rviz - joint_state_publisher_gui - \ No newline at end of file diff --git a/robots/g1_description/scene.xml b/robots/g1_description/scene.xml deleted file mode 100644 index 67696b8..0000000 --- a/robots/g1_description/scene.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/robots/g1_description/xacro/arm.xacro b/robots/g1_description/xacro/arm.xacro deleted file mode 100644 index ea22ec1..0000000 --- a/robots/g1_description/xacro/arm.xacro +++ /dev/null @@ -1,188 +0,0 @@ - - - - - - - - - - - - - - - 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hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - diff --git a/robots/g1_description/xacro/const.xacro b/robots/g1_description/xacro/const.xacro deleted file mode 100644 index 041e60e..0000000 --- a/robots/g1_description/xacro/const.xacro +++ /dev/null @@ -1,282 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/g1_description/xacro/gazebo.xacro b/robots/g1_description/xacro/gazebo.xacro deleted file mode 100644 index 0a312e5..0000000 --- a/robots/g1_description/xacro/gazebo.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - /g1_gazebo - gazebo_ros_control/DefaultRobotHWSim - - - - - true - - true - 1000 - true - __default_topic__ - - trunk_imu - imu_link - 1000.0 - 0.0 - 0 0 0 - 0 0 0 - imu_link - - 0 0 0 0 0 0 - - - - - false - - - - 0.2 - 0.2 - - - diff --git a/robots/g1_description/xacro/leg.xacro b/robots/g1_description/xacro/leg.xacro deleted file mode 100644 index 67c15b9..0000000 --- a/robots/g1_description/xacro/leg.xacro +++ /dev/null @@ -1,252 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/g1_description/xacro/leg_transmission.xacro b/robots/g1_description/xacro/leg_transmission.xacro deleted file mode 100644 index 631a27f..0000000 --- a/robots/g1_description/xacro/leg_transmission.xacro +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - - diff --git a/robots/g1_description/xacro/robot.xacro b/robots/g1_description/xacro/robot.xacro deleted file mode 100755 index 0d75b42..0000000 --- a/robots/g1_description/xacro/robot.xacro +++ /dev/null @@ -1,285 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - -