From ff2ae5225c3827bc169da095ec3b84aa86d13245 Mon Sep 17 00:00:00 2001 From: matheecs Date: Tue, 22 Oct 2024 17:04:06 +0800 Subject: [PATCH] add lock waist urdf & mjcf for g1 --- README.md | 24 +- robots/g1_description/README.md | 22 +- .../g1_description/g1_29dof_lock_waist.urdf | 1086 +++++++++++++++++ robots/g1_description/g1_29dof_lock_waist.xml | 293 +++++ .../g1_29dof_lock_waist_rev_1_0.urdf | 1058 ++++++++++++++++ .../g1_29dof_lock_waist_rev_1_0.xml | 290 +++++ 6 files changed, 2758 insertions(+), 15 deletions(-) create mode 100644 robots/g1_description/g1_29dof_lock_waist.urdf create mode 100644 robots/g1_description/g1_29dof_lock_waist.xml create mode 100644 robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf create mode 100644 robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml diff --git a/README.md b/README.md index 9f0d559..05fdb07 100644 --- a/README.md +++ b/README.md @@ -2,11 +2,29 @@ Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages. ## Packages: -Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`, `z1_description` +Robot description: +* `a1_description` +* `aliengo_description` +* `aliengoZ1_description` +* `b1_description` +* `b2_description` +* `b2w_description` +* `g1_description` +* `go1_description` +* `go2_description` +* `go2w_description` +* `h1_2_description` +* `h1_description` +* `laikago_description` +* `z1_description` -Robot and joints controller: `unitree_controller`, `z1_controller` +Robot and joints controller: +* `unitree_controller` +* `z1_controller` -Simulation related: `unitree_gazebo`, `unitree_legged_control` +Simulation related: +* `unitree_gazebo` +* `unitree_legged_control` # Dependencies * [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested) diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md index ee26dd6..633dbc3 100644 --- a/robots/g1_description/README.md +++ b/robots/g1_description/README.md @@ -4,19 +4,17 @@ This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/). -

- - - - -

+MJCF/URDF for the G1 robot: -As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot: - -* `g1_23dof` -* `g1_29dof` -* `g1_29dof_with_hand` -* `g1_dual_arm` +| MJCF/URDF file name | `mode_machine` | +| ----------------------------------------------- | :------------: | +| `g1_23dof` | 1 | +| `g1_29dof`/`g1_29dof_with_hand` | 2 | +| `g1_29dof_lock_waist` | 3 | +| `g1_23dof_rev_1_0` | 4 | +| `g1_29dof_rev_1_0`/`g1_29dof_with_hand_rev_1_0` | 5 | +| `g1_29dof_lock_waist_rev_1_0` | 6 | +| `g1_dual_arm` | 9 | ## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) diff --git a/robots/g1_description/g1_29dof_lock_waist.urdf b/robots/g1_description/g1_29dof_lock_waist.urdf new file mode 100644 index 0000000..fe2d57e --- /dev/null +++ b/robots/g1_description/g1_29dof_lock_waist.urdf @@ -0,0 +1,1086 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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