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b/sources/unitree_ros/robots/b1_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..af116cb248557d3b186a9218c5db5bfef85fd2b7 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(b1_description) + +find_package(catkin REQUIRED COMPONENTS + genmsg + roscpp + std_msgs + tf +) + +catkin_package( + CATKIN_DEPENDS +) + +include_directories( + # include + ${Boost_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} +) diff --git a/sources/unitree_ros/robots/b1_description/config/robot_control.yaml b/sources/unitree_ros/robots/b1_description/config/robot_control.yaml new file mode 100644 index 0000000000000000000000000000000000000000..116d765d81933d69190dd2a2d7f8f6b3db79667c --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/config/robot_control.yaml @@ -0,0 +1,70 @@ +b1_gazebo: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 1000 + + # FL Controllers --------------------------------------- + FL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # FR Controllers --------------------------------------- + FR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RL Controllers --------------------------------------- + RL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RR Controllers --------------------------------------- + RR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + diff --git a/sources/unitree_ros/robots/b1_description/launch/b1_rviz.launch b/sources/unitree_ros/robots/b1_description/launch/b1_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..660946570e9bff7f878f32851e489c85e477ebed --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/launch/b1_rviz.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b1_description/launch/check_joint.rviz b/sources/unitree_ros/robots/b1_description/launch/check_joint.rviz new file mode 100644 index 0000000000000000000000000000000000000000..7f2d1e2e4a6539908628d7943e8c33d10d10c345 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/launch/check_joint.rviz @@ -0,0 +1,315 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /RobotModel1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 530 + - 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: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + FL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + RL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + trunk: + 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 + - Alpha: 1 + Class: rviz/Axes + Enabled: false + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Show Trail: false + Value: false + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 238; 238; 238 + Default Light: true + Fixed Frame: base + 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: 1.7572907209396362 + 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: 0.18471483886241913 + Y: -0.16858524084091187 + Z: -0.1451287716627121 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.609795868396759 + Target Frame: + Yaw: 4.128592014312744 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 759 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1389 + X: 472 + Y: 122 diff --git a/sources/unitree_ros/robots/b1_description/meshes/calf.dae b/sources/unitree_ros/robots/b1_description/meshes/calf.dae new file mode 100644 index 0000000000000000000000000000000000000000..1da7a82645183e534ed9110570f30efa50ecedf1 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/meshes/calf.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c2557ccfe87c93d38c231cddc7696316563ac66c3d9774c5386598323259e06 +size 2668720 diff --git a/sources/unitree_ros/robots/b1_description/meshes/calfb.dae b/sources/unitree_ros/robots/b1_description/meshes/calfb.dae new file mode 100644 index 0000000000000000000000000000000000000000..78d6ab0a7973257325ca3e1e33f1b7e8c76d9714 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/meshes/calfb.dae @@ -0,0 +1,3 @@ +version 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sha256:98b802b6a2ecd5233fb4d95df9202fd2c7a131bb4060f04605d3fd65091a6cd2 +size 24422679 diff --git a/sources/unitree_ros/robots/b1_description/package.xml b/sources/unitree_ros/robots/b1_description/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..eb17f545360bfb9c0a85bf27dd149a22408471f3 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/package.xml @@ -0,0 +1,14 @@ + + + b1_description + 0.0.0 + The b1_description package + + unitree + TODO + + catkin + roscpp + std_msgs + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/b1.urdf b/sources/unitree_ros/robots/b1_description/xacro/b1.urdf new file mode 100644 index 0000000000000000000000000000000000000000..909171beb79d1216556fec28e1ea798656d5d2a3 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/b1.urdf @@ -0,0 +1,1277 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + /aliengo_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + + 10 + + base + 0 0 0 0 0 0 + Gazebo/Yellow + + + + + + + + trunk + /apply_force/trunk + + + + 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 + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + FR_foot_contact + + + + + + + FL_foot_contact + + + + + + + RR_foot_contact + + + + + + + RL_foot_contact + + + + + Gazebo/Green + false + + + 0.2 + 0.2 + + + + + 0.2 + 0.2 + Gazebo/White + + + 0.2 + 0.2 + Gazebo/Red + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey + + + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey 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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 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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/sources/unitree_ros/robots/b1_description/xacro/const.xacro b/sources/unitree_ros/robots/b1_description/xacro/const.xacro new file mode 100644 index 0000000000000000000000000000000000000000..50b4623be18b9578641d0e967f015ff190465b4f --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/const.xacro @@ -0,0 +1,160 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/b1_description/xacro/gazebo.xacro new file mode 100644 index 0000000000000000000000000000000000000000..579bb320e0c26b7edb842d866a838e6def421f1b --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/gazebo.xacro @@ -0,0 +1,266 @@ + + + + + + /b1_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + + + 10 + + base + 0 0 0 0 0 0 + Gazebo/Yellow + + + + + + + + + + trunk + /apply_force/trunk + + + + + 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 + + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + + FR_foot_contact + + + + + + + FL_foot_contact + + + + + + + RR_foot_contact + + + + + + + RL_foot_contact + + + + + + Gazebo/Green + false + + + + 0.2 + 0.2 + + + + + + 0.2 + 0.2 + Gazebo/White + + + + 0.2 + 0.2 + Gazebo/Red + + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey + + + + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey + + + + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey + + + + + + + 0.2 + 0.2 + Gazebo/DarkGrey + + + 0.2 + 0.2 + 1 + Gazebo/DarkGrey + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + Gazebo/DarkGrey + + + + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/leg.xacro b/sources/unitree_ros/robots/b1_description/xacro/leg.xacro new file mode 100644 index 0000000000000000000000000000000000000000..f36ffe39b211b0347bd093402d311c31e83029b3 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/leg.xacro @@ -0,0 +1,288 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/materials.xacro b/sources/unitree_ros/robots/b1_description/xacro/materials.xacro new file mode 100644 index 0000000000000000000000000000000000000000..ee4dc3b4ff8027072779c81a402f4d637546c107 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/materials.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/robot.xacro b/sources/unitree_ros/robots/b1_description/xacro/robot.xacro new file mode 100644 index 0000000000000000000000000000000000000000..8507acd475a001f9c244daf525d07393c44f10c8 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/robot.xacro @@ -0,0 +1,168 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +- + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b1_description/xacro/stairs.xacro b/sources/unitree_ros/robots/b1_description/xacro/stairs.xacro new file mode 100644 index 0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/stairs.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b1_description/xacro/transmission.xacro b/sources/unitree_ros/robots/b1_description/xacro/transmission.xacro new file mode 100644 index 0000000000000000000000000000000000000000..cee02e41d7b019faf50f09a8d84023a18de2f6e8 --- /dev/null +++ b/sources/unitree_ros/robots/b1_description/xacro/transmission.xacro @@ -0,0 +1,42 @@ + + + + + + + + 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/sources/unitree_ros/robots/b2_description/CMakeLists.txt b/sources/unitree_ros/robots/b2_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..41da1bc8839a6a96087446f4a4af3c93bcac4e87 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(b2_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/sources/unitree_ros/robots/b2_description/README.md b/sources/unitree_ros/robots/b2_description/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ff1922ceb14935c09baf8e1083cdf78ec5f82bf6 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/README.md @@ -0,0 +1,45 @@ +## b2_urdf +This repository contains the urdf model of b2. + + +## Build the library +Create a new catkin workspace: +``` +# Create the directories +# Do not forget to change <...> parts +mkdir -p //src +cd // + +# Initialize the catkin workspace +catkin init +``` + +Clone library: +``` +# Navigate to the directory of src +# Do not forget to change <...> parts +cd //src +git clone git@github.com:unitreerobotics +``` + +Build: +``` +# Build it +catkin build + +# Source it +source //devel/setup.bash +``` + + + +## Run the library +``` +# Show urdf model of b2 in Rviz +roslaunch b2_description display.launch + +``` + +## support issac + + diff --git a/sources/unitree_ros/robots/b2_description/config/config.rviz b/sources/unitree_ros/robots/b2_description/config/config.rviz new file mode 100644 index 0000000000000000000000000000000000000000..a49624c8e85f6411dcad888480dded8e32414463 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/config/config.rviz @@ -0,0 +1,361 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.8341270089149475 + Tree Height: 1576 + - 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: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + f_dc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + f_oc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_c_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_f_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_h_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_t_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_c_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_f_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_h_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_t_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_Link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + lidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_dc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_oc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rl_c_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rl_f_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rl_h_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rl_t_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rr_c_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rr_f_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rr_h_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rr_t_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tail_link: + 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 + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + f_dc_link: + Value: true + f_oc_link: + Value: true + fl_c_link: + Value: true + fl_f_link: + Value: true + fl_h_link: + Value: true + fl_t_link: + Value: true + fr_c_link: + Value: true + fr_f_link: + Value: true + fr_h_link: + Value: true + fr_t_link: + Value: true + head_Link: + Value: true + imu_link: + Value: true + lidar_link: + Value: true + r_dc_link: + Value: true + r_oc_link: + Value: true + rl_c_link: + Value: true + rl_f_link: + Value: true + rl_h_link: + Value: true + rl_t_link: + Value: true + rr_c_link: + Value: true + rr_f_link: + Value: true + rr_h_link: + Value: true + rr_t_link: + Value: true + tail_link: + Value: true + Marker Alpha: 1 + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + f_dc_link: + {} + f_oc_link: + {} + fl_h_link: + fl_t_link: + fl_c_link: + fl_f_link: + {} + fr_h_link: + fr_t_link: + fr_c_link: + fr_f_link: + {} + head_Link: + {} + imu_link: + {} + lidar_link: + {} + r_dc_link: + {} + r_oc_link: + {} + rl_h_link: + rl_t_link: + rl_c_link: + rl_f_link: + {} + rr_h_link: + rr_t_link: + rr_c_link: + rr_f_link: + {} + tail_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + 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: 1.8284358978271484 + 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: 0.01927083730697632 + Y: -0.037570029497146606 + Z: -0.34493619203567505 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.555398166179657 + Target Frame: + Yaw: 0.7953987121582031 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2086 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000024000000720fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000007200000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f00000720fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000007200000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000f000000005efc0100000002fb0000000800540069006d0065010000000000000f00000006dc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000cb40000072000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3840 + X: 3840 + Y: 0 diff --git a/sources/unitree_ros/robots/b2_description/config/robot_control.yaml b/sources/unitree_ros/robots/b2_description/config/robot_control.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9691b8e275e66fd38f9cd7b76302c8d3011184c --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/config/robot_control.yaml @@ -0,0 +1,70 @@ +b2_gazebo: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 1000 + + # FL Controllers --------------------------------------- + FL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # FR Controllers --------------------------------------- + FR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RL Controllers --------------------------------------- + RL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RR Controllers --------------------------------------- + RR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + diff --git a/sources/unitree_ros/robots/b2_description/launch/display.launch b/sources/unitree_ros/robots/b2_description/launch/display.launch new file mode 100644 index 0000000000000000000000000000000000000000..de58641264635c7bbef587ac145b36f14b4ad531 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2_description/launch/gazebo.launch b/sources/unitree_ros/robots/b2_description/launch/gazebo.launch new file mode 100644 index 0000000000000000000000000000000000000000..eea291da2e388f2b29c8234d89549990ab3d013b --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2_description/meshes/FL_calf.dae b/sources/unitree_ros/robots/b2_description/meshes/FL_calf.dae new file mode 100644 index 0000000000000000000000000000000000000000..7ea193700e1094ffdbe46899d4716939a2bb199a --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/FL_calf.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f92e26e6574080051d1584987e7bdb4b591dee1a0b8f6d9cf7bf18302818d015 +size 2254501 diff --git a/sources/unitree_ros/robots/b2_description/meshes/FL_foot.dae b/sources/unitree_ros/robots/b2_description/meshes/FL_foot.dae new file mode 100644 index 0000000000000000000000000000000000000000..72212463b931038540adaa5e4439350c433c0f44 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/FL_foot.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:447a96acf0593783b09f29b411ce1077cc61ab1b4a929fd7bc745802fd68bc27 +size 1802977 diff --git a/sources/unitree_ros/robots/b2_description/meshes/FL_hip.dae b/sources/unitree_ros/robots/b2_description/meshes/FL_hip.dae new file mode 100644 index 0000000000000000000000000000000000000000..cf8f5c43f682726d2fd403a159becc3ed08bd1be --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/FL_hip.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb84fd0647ae86aed557c8ec12e44c502a56ca892e061b6924f44ff4bbcac58 +size 247428 diff --git a/sources/unitree_ros/robots/b2_description/meshes/FL_thigh.dae b/sources/unitree_ros/robots/b2_description/meshes/FL_thigh.dae new file mode 100644 index 0000000000000000000000000000000000000000..a019a89c9f1d3e069575202834bb7a9cc06097e8 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/FL_thigh.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dc0be62ea3ac04d1de915026b693d9ec0801c88c01bd211ceeeb171554dc681 +size 776753 diff --git a/sources/unitree_ros/robots/b2_description/meshes/FR_calf.dae b/sources/unitree_ros/robots/b2_description/meshes/FR_calf.dae new file mode 100644 index 0000000000000000000000000000000000000000..7ea193700e1094ffdbe46899d4716939a2bb199a --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/FR_calf.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f92e26e6574080051d1584987e7bdb4b591dee1a0b8f6d9cf7bf18302818d015 +size 2254501 diff --git a/sources/unitree_ros/robots/b2_description/meshes/FR_hip.dae b/sources/unitree_ros/robots/b2_description/meshes/FR_hip.dae new file mode 100644 index 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0000000000000000000000000000000000000000..a0703b5c792dffb062f3be5e1469cf97c9b3d310 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/trunk1.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:529d333f582169fed2dbf886b57eab9d5e4a9d5cfe5e35a62798bd0e70a8abf9 +size 47892458 diff --git a/sources/unitree_ros/robots/b2_description/meshes/trunk2.dae b/sources/unitree_ros/robots/b2_description/meshes/trunk2.dae new file mode 100644 index 0000000000000000000000000000000000000000..65bdfc18ed3a125b344005f5e215cf5b05b17c66 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/meshes/trunk2.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:479c9e3789eaa87f08c554818a8b11f69f769878e4d94f51ee3b52bb55196f5a +size 47890347 diff --git a/sources/unitree_ros/robots/b2_description/package.xml b/sources/unitree_ros/robots/b2_description/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..853ed9f332fa9ca82058568fe1b8fd281790edc4 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/package.xml @@ -0,0 +1,21 @@ + + b2_description + 1.0.0 + +

URDF Description package for b2_description

+

This package contains configuration data, 3D models and launch files +for b2_description robot

+ + Unitree Robotics + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2_description/urdf/b2_description.urdf b/sources/unitree_ros/robots/b2_description/urdf/b2_description.urdf new file mode 100644 index 0000000000000000000000000000000000000000..9da83ea8ce0c899a7a9463b86bc6a0b75f87e788 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/urdf/b2_description.urdf @@ -0,0 +1,831 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2_description/xacro/const.xacro b/sources/unitree_ros/robots/b2_description/xacro/const.xacro new file mode 100644 index 0000000000000000000000000000000000000000..caea5ca78f440784f07e574a36907b1be9a313ff --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/const.xacro @@ -0,0 +1,160 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/b2_description/xacro/gazebo.xacro new file mode 100644 index 0000000000000000000000000000000000000000..bbdf30439d17b2009ab18d2d9e6a9c20b03aad52 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/gazebo.xacro @@ -0,0 +1,266 @@ + + + + + + /b2_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + + + 10 + + base + 0 0 0 0 0 0 + Gazebo/Yellow + + + + + + + + + + trunk + /apply_force/trunk + + + + + 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 + + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + + Gazebo/Green + false + + + + 0.2 + 0.2 + + + + + + 0.2 + 0.2 + Gazebo/White + + + + 0.2 + 0.2 + Gazebo/Red + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + diff --git a/sources/unitree_ros/robots/b2_description/xacro/leg.xacro b/sources/unitree_ros/robots/b2_description/xacro/leg.xacro new file mode 100644 index 0000000000000000000000000000000000000000..49fad1e64aada71845b6e22d92a03e8f4a04f878 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/leg.xacro @@ -0,0 +1,267 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2_description/xacro/materials.xacro b/sources/unitree_ros/robots/b2_description/xacro/materials.xacro new file mode 100644 index 0000000000000000000000000000000000000000..ee4dc3b4ff8027072779c81a402f4d637546c107 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/materials.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2_description/xacro/robot.xacro b/sources/unitree_ros/robots/b2_description/xacro/robot.xacro new file mode 100644 index 0000000000000000000000000000000000000000..6590cc04fc294411e390f97045a84e1828d998b5 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/robot.xacro @@ -0,0 +1,182 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2_description/xacro/stairs.xacro b/sources/unitree_ros/robots/b2_description/xacro/stairs.xacro new file mode 100644 index 0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/stairs.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2_description/xacro/transmission.xacro b/sources/unitree_ros/robots/b2_description/xacro/transmission.xacro new file mode 100644 index 0000000000000000000000000000000000000000..cee02e41d7b019faf50f09a8d84023a18de2f6e8 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description/xacro/transmission.xacro @@ -0,0 +1,42 @@ + + + + + + + + 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/sources/unitree_ros/robots/b2_description_mujoco/README.md b/sources/unitree_ros/robots/b2_description_mujoco/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e3d138e4eb67f53a497c9437160ad1aa48110ef4 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description_mujoco/README.md @@ -0,0 +1,6 @@ +## b2 mujoco + +## +1. install mujoco +2. enter "b2_description_mujoco" file +3. input "simulate ./xml/scene.xml" in your terminal to open b2 mujoco diff --git a/sources/unitree_ros/robots/b2_description_mujoco/Screenshot from 2023-12-11 21-44-55.png b/sources/unitree_ros/robots/b2_description_mujoco/Screenshot from 2023-12-11 21-44-55.png new file mode 100644 index 0000000000000000000000000000000000000000..52f4dde1d07a29af620b8337f2782ac809cc77d8 --- /dev/null +++ b/sources/unitree_ros/robots/b2_description_mujoco/Screenshot from 2023-12-11 21-44-55.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57a2b35eda42e6a38d6a4f958d0acdc634a5f0304604d3d9e257bb23abf853fa +size 532290 diff --git a/sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_calf.obj b/sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_calf.obj new file mode 100644 index 0000000000000000000000000000000000000000..37099f8bcdb583a32d0955f7767a4a9708b8de2d --- /dev/null +++ b/sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_calf.obj @@ -0,0 +1,3 @@ +version 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b/sources/unitree_ros/robots/b2_description_mujoco/xml/scene.xml new file mode 100644 index 0000000000000000000000000000000000000000..704577d6738fc51ace31508a7b0891658dbe694e --- /dev/null +++ b/sources/unitree_ros/robots/b2_description_mujoco/xml/scene.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2w_description/CMakeLists.txt b/sources/unitree_ros/robots/b2w_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f981ba6353c7f0c1faa4e10da88ec6e5c782260 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(b2w_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/sources/unitree_ros/robots/b2w_description/README.md b/sources/unitree_ros/robots/b2w_description/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bd80eb7f480a030cd03dce92b0446ae385ca1391 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/README.md @@ -0,0 +1,45 @@ +## b2w_urdf +This repository contains the urdf model of b2w. + + +## Build the library +Create a new catkin workspace: +``` +# Create the directories +# Do not forget to change <...> parts +mkdir -p //src +cd // + +# Initialize the catkin workspace +catkin init +``` + +Clone library: +``` +# Navigate to the directory of src +# Do not forget to change <...> parts +cd //src +git clone git@github.com:unitreerobotics +``` + +Build: +``` +# Build it +catkin build + +# Source it +source //devel/setup.bash +``` + + + +## Run the library +``` +# Show urdf model of b2w in Rviz +roslaunch b2w_description display.launch + +``` + +## support issac + + diff --git a/sources/unitree_ros/robots/b2w_description/config/b2w.rviz b/sources/unitree_ros/robots/b2w_description/config/b2w.rviz new file mode 100644 index 0000000000000000000000000000000000000000..eb2c8c91f3a6fe64bdd857ce3fb52b64ed5d2ae2 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/config/b2w.rviz @@ -0,0 +1,259 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1079 + - 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 + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + FL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + RL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + f_dc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + f_oc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_Link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + lidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + logo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_dc_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_oc_ink: + Alpha: 1 + Show Axes: false + Show Trail: false + tail_link: + 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 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + 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: 2.1567115783691406 + 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: 0.1668100506067276 + Y: 0.024347694590687752 + Z: -0.19685064256191254 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.38039839267730713 + Target Frame: + Yaw: 1.0103977918624878 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1376 + 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: 2488 + X: 72 + Y: 27 diff --git a/sources/unitree_ros/robots/b2w_description/config/joint_names_b2w_description.yaml b/sources/unitree_ros/robots/b2w_description/config/joint_names_b2w_description.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee71d227ec293eafc02165efffcb3ac31fe468c9 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/config/joint_names_b2w_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'joint_fl_h', 'joint_fl_t', 'joint_fl_c', 'joint_fl_f', 'joint_fr_h', 'joint_fr_t', 'joint_fr_c', 'joint_fr_f', 'joint_rl_h', 'joint_rl_t', 'joint_rl_c', 'joint_rl_f', 'joint_rr_h', 'joint_rr_t', 'rr_c_link', 'rr_f_link', ] diff --git a/sources/unitree_ros/robots/b2w_description/launch/display.launch b/sources/unitree_ros/robots/b2w_description/launch/display.launch new file mode 100644 index 0000000000000000000000000000000000000000..df8aa23b2e29346b3ab8830adb003e2513725b3d --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2w_description/launch/gazebo.launch b/sources/unitree_ros/robots/b2w_description/launch/gazebo.launch new file mode 100644 index 0000000000000000000000000000000000000000..01dd9e06dbcfb3f5ebf461f601c92682ecceb836 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2w_description/meshes/FL_calf.dae b/sources/unitree_ros/robots/b2w_description/meshes/FL_calf.dae new file mode 100644 index 0000000000000000000000000000000000000000..569c98826dec2fd630473977d28617c9abba0462 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/meshes/FL_calf.dae @@ -0,0 +1,3 @@ +version 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sha256:f5c0b686a93270e77a9edc7145f922b6e8e4bfc5c818ca92e9edad0d954c183a +size 71748110 diff --git a/sources/unitree_ros/robots/b2w_description/package.xml b/sources/unitree_ros/robots/b2w_description/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..bcf9cdf3701c73e973bdbdc72c203fcdf98ea843 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/package.xml @@ -0,0 +1,21 @@ + + b2w_description + 1.0.0 + +

URDF Description package for b2w_description

+

This package contains configuration data, 3D models and launch files +for b2w_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2w_description/urdf/b2w_description.urdf b/sources/unitree_ros/robots/b2w_description/urdf/b2w_description.urdf new file mode 100644 index 0000000000000000000000000000000000000000..f08eac742ac70780015f32f1ed22ac738e85d653 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/urdf/b2w_description.urdf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/sources/unitree_ros/robots/b2w_description/xacro/const.xacro @@ -0,0 +1,160 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sources/unitree_ros/robots/b2w_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/b2w_description/xacro/gazebo.xacro new file mode 100644 index 0000000000000000000000000000000000000000..ad95c08f7ce0d4b266d71fb14dde97e50797f0d6 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/xacro/gazebo.xacro @@ -0,0 +1,266 @@ + + + + + + /b2w_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + + + 10 + + base + 0 0 0 0 0 0 + Gazebo/Yellow + + + + + + + + + + trunk + /apply_force/trunk + + + + + 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 + + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + + Gazebo/Green + false + + + + 0.2 + 0.2 + + + + + + 0.2 + 0.2 + Gazebo/White + + + + 0.2 + 0.2 + Gazebo/Red + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + 1 + + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + diff --git a/sources/unitree_ros/robots/b2w_description/xacro/leg.xacro b/sources/unitree_ros/robots/b2w_description/xacro/leg.xacro new file mode 100644 index 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0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/xacro/stairs.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/b2w_description/xacro/transmission.xacro b/sources/unitree_ros/robots/b2w_description/xacro/transmission.xacro new file mode 100644 index 0000000000000000000000000000000000000000..cee02e41d7b019faf50f09a8d84023a18de2f6e8 --- /dev/null +++ b/sources/unitree_ros/robots/b2w_description/xacro/transmission.xacro @@ -0,0 +1,42 @@ + + + + + + + + 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/sources/unitree_ros/robots/dexterous_hand_description/dex1_1/dex1_1.urdf b/sources/unitree_ros/robots/dexterous_hand_description/dex1_1/dex1_1.urdf new file mode 100644 index 0000000000000000000000000000000000000000..e288e0a396567d7641fdf2842bf79c1b775e11b5 --- /dev/null +++ b/sources/unitree_ros/robots/dexterous_hand_description/dex1_1/dex1_1.urdf @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/dexterous_hand_description/dex1_1/meshes/Camera.STL b/sources/unitree_ros/robots/dexterous_hand_description/dex1_1/meshes/Camera.STL new file mode 100644 index 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wrist motor | lock waist | Update status | dof#leg | dof#waist | dof#arm | dof#hand | +|------------------------------------------|:--------------:|------------------------------|-------------|------------|---------------|:-------:|:---------:|:-------:|:--------:| +| `g1_23dof_mode_10` | 10 | {22.5, 22.5} | null | no | Up-to-date | 6*2 | 1 | 5*2 | null | +| `g1_29dof_mode_11` | 11 | {22.5, 22.5} | 4010 | no | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_12` | 12 | {22.5, 22.5} | 4010 | yes | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_13` | 13 | {14.3, 22.5} | 5010(new) | no | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_14` | 14 | {14.3, 22.5} | 5010(new) | yes | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_15` | 15 | {22.5, 22.5} | 5010(new) | no | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_16` | 16 | {22.5, 22.5} | 5010(new) | yes | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_23dof_rev_1_0` | 4 | {14.3, 22.5} | null | | Up-to-date | 6*2 | 1 | 5*2 | null | +| `g1_29dof_rev_1_0` | 5 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_with_hand_rev_1_0` | 5 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | 7*2 | +| `g1_29dof_rev_1_0_with_inspire_hand_DFQ` | 5 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | 12*2 | +| `g1_29dof_rev_1_0_with_inspire_hand_FTP` | 5 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | 12*2 | +| `g1_29dof_lock_waist_rev_1_0` | 6 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_lock_waist_with_hand_rev_1_0` | 6 | {14.3, 22.5} | 4010 | | Up-to-date | 6*2 | 3 | 7*2 | 7*2 | +| `g1_dual_arm` | 9 | null | 4010 | | Up-to-date | null | null | 7*2 | null | +| `g1_29dof_mode_18` | 18 | {22.5, 22.5} | 5010(new) | no | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_pl` | 23 | {14.3, 22.5} | 5010(new) | no | Up-to-date | 6*2 | 3 | 7*2 | null | +| `g1_29dof_mode_15_with_dex1_1` | 15 | {22.5, 22.5} | 5010(new) | no | Up-to-date | 6*2 | 3 | 7*2 | 2*2 | +| `g1_comp` | | | | no | Up-to-date | 6*2 | 1 | 5*2 | null | +| ~~`g1_23dof`~~ | 1 | {14.3, 14.5} | null | | Deprecated | 6*2 | 1 | 5*2 | null | +| ~~`g1_29dof`~~ | 2 | {14.3, 14.5} | 4010 | | Deprecated | 6*2 | 3 | 7*2 | null | +| ~~`g1_29dof_with_hand`~~ | 2 | {14.3, 14.5} | 4010 | | Deprecated | 6*2 | 3 | 7*2 | 7*2 | +| ~~`g1_29dof_lock_waist`~~ | 3 | {14.3, 14.5} | 4010 | | Deprecated | 6*2 | 3 | 7*2 | null | + +💡**Note:** The robot's `mode_machine` ID can be viewed in the app by navigating to **Device** → **Data** → **Robot** → **Machine Type**. + +## G1+ (31 DoF) + +`g1_pl.urdf` extends `g1_29dof_mode_18.urdf` with the G1+ upper body dated 2026-09-23. It has 12 leg, 3 waist, 14 arm, and 2 neck degrees of freedom. + +- The head uses `neck_pitch_joint` and `neck_yaw_joint`; the head links use the `dark` material. +- The model includes the updated torso and head meshes, a torso handle, and camera/lidar reference frames attached to `head_link`. +- Motor effort and velocity limits follow [`motor_info.md`](motor_info.md). In `g1_pl.urdf`, the ankle pitch/roll effort is increased from 41 to 61.5 N·m, and the waist roll/pitch effort is increased from 60 to 90 N·m. Velocities are unchanged. + +## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) + +1. Open MuJoCo Viewer + + ```bash + pip install mujoco + python -m mujoco.viewer + ``` + +2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer. + +## Visulization with VSCode + [Urdf Visualizer](https://github.com/MorningFrog/urdf-visualizer) + +Install VSCode and [Urdf Visualizer](https://github.com/MorningFrog/urdf-visualizer) + +## Q&A: How to Add AGX Backpack? + +Add the following code snippet to the URDF file. + +```xml + + + + + + + + + + + + + + + + + + + + + + + + + + +``` diff --git a/sources/unitree_ros/robots/g1_description/g1_23dof.urdf b/sources/unitree_ros/robots/g1_description/g1_23dof.urdf new file mode 100644 index 0000000000000000000000000000000000000000..dff71531bdbda6c4ab543edb255977f4a5b538ab --- /dev/null +++ b/sources/unitree_ros/robots/g1_description/g1_23dof.urdf @@ -0,0 +1,852 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sources/unitree_ros/robots/g1_description/inspire_hand/config.yaml b/sources/unitree_ros/robots/g1_description/inspire_hand/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8c91ec4030ef7edcd81c8a5f20cbd3b100f135f --- /dev/null +++ b/sources/unitree_ros/robots/g1_description/inspire_hand/config.yaml @@ -0,0 +1,5 @@ +G1_remove_links: ["left_rubber_hand", "right_rubber_hand"] +G1_remove_joints: ["left_hand_palm_joint", "right_hand_palm_joint"] + +L_hand_remove_links: ['left_wrist_yaw_link'] +R_hand_remove_links: ['right_wrist_yaw_link'] \ No newline at end of file diff --git a/sources/unitree_ros/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb b/sources/unitree_ros/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..71bfeab5efbcba1fb0d7ce6b8e2147fe68d8a781 --- /dev/null +++ b/sources/unitree_ros/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb @@ -0,0 +1,112 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import yaml\n", + "f = open('inspire_hand/config.yaml')\n", + "try:\n", + " config = yaml.load(f, Loader=yaml.FullLoader)\n", + "finally:\n", + " f.close()" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[INFO] Remove link left_rubber_hand\n", + "[INFO] Remove link right_rubber_hand\n", + "[INFO] Remove joint left_hand_palm_joint\n", + "[INFO] Remove joint right_hand_palm_joint\n", + "[INFO] Generate merged URDF file: g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf Done.\n", + "[INFO] Remove link left_rubber_hand\n", + "[INFO] Remove link right_rubber_hand\n", + "[INFO] Remove joint left_hand_palm_joint\n", + "[INFO] Remove joint right_hand_palm_joint\n", + "[INFO] Generate merged URDF file: g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf Done.\n" + ] + } + ], + "source": [ + "import xml.etree.ElementTree as ET\n", + "\n", + "\n", + "def merge_urdfs(g1_urdf, hand_type):\n", + " lhand_urdf = f\"inspire_hand/{hand_type}_left_hand.urdf\"\n", + " rhand_urdf = f\"inspire_hand/{hand_type}_right_hand.urdf\"\n", + " G1 = ET.parse(g1_urdf)\n", + " g1 = G1.getroot()\n", + " lhand = ET.parse(lhand_urdf).getroot()\n", + " rhand = ET.parse(rhand_urdf).getroot()\n", + "\n", + " # clean\n", + " for element in g1:\n", + " name = element.attrib.get('name', None)\n", + " if element.tag == \"link\" and name in config['G1_remove_links']:\n", + " print('[INFO] Remove link', name)\n", + " g1.remove(element)\n", + "\n", + " for element in g1:\n", + " name = element.attrib.get('name', None)\n", + " if element.tag == \"joint\" and name in config['G1_remove_joints']:\n", + " print('[INFO] Remove joint', name)\n", + " g1.remove(element)\n", + "\n", + " for element in lhand:\n", + " name = element.attrib.get('name', None)\n", + " if element.tag == \"link\" and name in config['L_hand_remove_links']:\n", + " lhand.remove(element)\n", + " for element in rhand:\n", + " name = element.attrib.get('name', None)\n", + " if element.tag == \"link\" and name in config['R_hand_remove_links']:\n", + " rhand.remove(element)\n", + "\n", + " # merge\n", + " for element in lhand:\n", + " if element.tag in [\"link\", \"joint\"]:\n", + " g1.append(element)\n", + " for element in rhand:\n", + " if element.tag in [\"link\", \"joint\"]:\n", + " g1.append(element)\n", + "\n", + " output = g1_urdf[:-5] + f\"_with_inspire_hand_{hand_type}.urdf\"\n", + " G1.write(output)\n", + " print(f\"[INFO] Generate merged URDF file: {output} Done.\")\n", + "\n", + "\n", + "merge_urdfs(g1_urdf=\"g1_29dof_rev_1_0.urdf\", hand_type=\"FTP\")\n", + "merge_urdfs(g1_urdf=\"g1_29dof_rev_1_0.urdf\", hand_type=\"DFQ\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "rerun3x", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.16" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/sources/unitree_ros/robots/g1_description/meshes/Dex1_base_link.STL b/sources/unitree_ros/robots/g1_description/meshes/Dex1_base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..054f3a9f02891b2441b025ede6c701825cda3cee --- /dev/null +++ b/sources/unitree_ros/robots/g1_description/meshes/Dex1_base_link.STL @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03f1cb02f94d6b280953f6c5a10da2eab6220ea5c301408d3c4decca66c8cdad +size 2824984 diff --git a/sources/unitree_ros/robots/g1_description/meshes/Dex1_finger_link_1.STL b/sources/unitree_ros/robots/g1_description/meshes/Dex1_finger_link_1.STL new file mode 100644 index 0000000000000000000000000000000000000000..5c191a8c15c5294233c5f0f698f7376b0cf0d77f --- /dev/null +++ b/sources/unitree_ros/robots/g1_description/meshes/Dex1_finger_link_1.STL @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cd2ff199556e3955547a34c75ed9ea777fb7d704fc98e7318d0f67e4aaedf5a +size 313884 diff --git a/sources/unitree_ros/robots/g1_description/meshes/Dex1_finger_link_2.STL 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