LhLuke/robot-models/mobile/r1_pro - Storage Bucket

R1 Pro Model

This self-contained R1 Pro model is vendored from the following pinned sources:

• ROS URDF: https://github.com/userguide-galaxea/URDF.git, branch main, commit 2e5d31e1784481a34d178006c0d0e18e0a84a82a
• MuJoCo Robot Zoo: git@gitlab.bj.sensetime.com:robotics/robot-zoo.git, branch main, commit 818bf4ddac7b39df183ce694cf45bbde8646519a

The runtime URDF came from R1Pro/urdf_r1pro_g1z_2026/urdf/r1pro_2026.urdf. Its mesh references were rewritten from the upstream package URI and uppercase STL filenames to package://ace_description/urdf/r1_pro/meshes/<lowercase>.stl. The 43 mesh files are copied once from that upstream package and normalized to lowercase .stl filenames. The modular MJCF descriptors come from mobile/galaxyR1/mjcf; both root descriptors use meshdir="../meshes", so the upstream-style bare mesh filenames resolve to the same repository-owned copy. Mink loads the fixed-base descriptor, while the standalone simulator loads scene/scene.xml with the upstream floating-base contract. The scene exposes the three upstream chassis velocity actuators vx, vy, and vyaw; galaxyR1_pinocchio.xml is retained alongside the other upstream descriptors.

The updated fixed-base MJCF has 28 joint positions and 20 actuators. Its six base joints are passive, its torso and arm joints use position actuators, and its four gripper finger slides are paired behind two gripper actuators. This teleoperation profile freezes the base and MJCF finger joints and continues to publish only the existing 18 torso-and-arm hardware targets. The vendored URDF retains the source package's zero-range G1Z finger joints for visualization.

License Status

The upstream ROS package declares BSD in package.xml but contains no BSD license text. Robot Zoo marks mobile/galaxyR1 as VERIFY and states that its root Apache-2.0 license does not cover upstream vendor descriptions or meshes. Verify redistribution rights before publishing these assets outside the authorized repository.