limxdynamics/tron1-robot-description

中文说明：TRON 1 双足机器人（点足 PF / 双足 SF / 轮足 WF 各版本）的机器人描述文件，包含 URDF / Xacro / MuJoCo MJCF 模型与网格，支持 ROS 1/2 与 MuJoCo 仿真。本仓库镜像自 GitHub limxdynamics/tron1-robot-description。问题与合作请联系 opensource@limxdynamics.com。

Mirrored as-is from limxdynamics/tron1-robot-description. Download: hf download limxdynamics/tron1-robot-description

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TRON1 Robot Description

Open, simulation-ready robot models for the LimX Dynamics TRON1 biped — point-foot, sole-foot and wheel-foot — plus a wheel-legged quadruped.

URDF · Xacro · MuJoCo MJCF · ROS 1 · ROS 2 · Gazebo

_{For partnership and procurement inquiries, contact opensource@limxdynamics.com}

_{Rendered directly from the MJCF / URDF files in this repository.}

Part of the TRON1 open-source ecosystem. Where to start and the other TRON1 repositories: TRON1 quick start.

Why this repo

• One TRON1, three feet. Swap between point-foot, sole-foot (with ankle) and wheel-foot by changing one model name.
• Load it in 30 seconds. Every biped variant ships a MuJoCo MJCF — pip install mujoco is all you need, no ROS required.
• Same models, every toolchain. URDF, Xacro and MJCF from one source, working with ROS 1 Noetic, ROS 2 Iron, Gazebo and MuJoCo.
• Built for sim-to-real. These are the models used across the official TRON1 training (Isaac Lab / Isaac Gym), simulation and deployment stack.
• Gazebo and ros2_control wiring included. Transmissions and the Gazebo IMU sensor plugin are emitted by default; the ros2_control hardware block and the gazebo_ros2_control plugin come with use_gazebo:=true.

Try it in 30 seconds (no ROS)

git clone https://github.com/limxdynamics/tron1-robot-description.git
pip install mujoco
python -m mujoco.viewer --mjcf=tron1-robot-description/pointfoot/WF_TRON1A/xml/robot.xml

Swap WF_TRON1A for any biped model in the table below — all ten ship an MJCF. The wheel-legged quadruped (WL_P311D / WL_P311E) ships URDF and SRDF only, so it has no xml/robot.xml. Or load it from Python:

import mujoco

model = mujoco.MjModel.from_xml_path("tron1-robot-description/pointfoot/SF_TRON1A/xml/robot.xml")
data = mujoco.MjData(model)
mujoco.mj_step(model, data)

Robot models

	Type	Models	Actuated DoF	Formats
	Point-foot biped	PF_TRON1A PF_TRON1B PF_P441A PF_P441B PF_P441C PF_P441C2	6	URDF · Xacro · MJCF
	Sole-foot biped (with ankle)	SF_TRON1A SF_TRON1B	8	URDF · Xacro · MJCF
	Wheel-foot biped	WF_TRON1A WF_TRON1B	8	URDF · Xacro · MJCF
	Wheel-legged quadruped	WL_P311D WL_P311E	16	URDF · SRDF

Repository layout

tron1-robot-description/
├── pointfoot/                 # TRON1 biped family
│   ├── <MODEL>/
│   │   ├── urdf/robot.urdf    # flattened URDF
│   │   ├── xacro/             # robot.xacro + gazebo / transmission / ros2_control
│   │   ├── xml/robot.xml      # MuJoCo MJCF
│   │   └── meshes/            # STL meshes
│   └── meshes_camera/         # optional Intel RealSense D435 mesh (referenced from a commented-out
│                              # block in every *_TRON1A / *_TRON1B model)
├── wheellegged/
│   └── <MODEL>/{urdf,srdf,meshes}
├── CMakeLists.txt             # builds as package `robot_description` on ROS 1 and ROS 2
└── package.xml

Use with ROS

The repo builds as a single ROS package named robot_description on both ROS 1 and ROS 2. The workspace and the clone are the same for both, so run this once and then open the block for your ROS version:

mkdir -p ~/limx_ws/src && cd ~/limx_ws/src
git clone https://github.com/limxdynamics/tron1-robot-description.git
cd ~/limx_ws

ROS 1 (Noetic)

source /opt/ros/noetic/setup.bash
catkin_make install
source devel/setup.bash

# Choose your robot, e.g. SF_TRON1A
export ROBOT_TYPE=SF_TRON1A

# Generate the URDF from Xacro
rosrun xacro xacro $(rospack find robot_description)/pointfoot/$ROBOT_TYPE/xacro/robot.xacro

ROS 2 (Iron)

source /opt/ros/iron/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

export ROBOT_TYPE=SF_TRON1A
xacro $(ros2 pkg prefix robot_description)/share/robot_description/pointfoot/$ROBOT_TYPE/xacro/robot.xacro

Xacro arguments (biped models):

Argument	Default	Effect
use_gazebo	false	Adds the Gazebo ros2_control hardware block (PointFootHWSim) with joint and IMU interfaces
use_support	false	Fixes the base to the world 0.3 m above ground — handy for debugging joints in the air

xacro .../pointfoot/$ROBOT_TYPE/xacro/robot.xacro use_gazebo:=true

Note: use_gazebo:=true expands $(find pointfoot_gazebo) to locate the controller config, and pointfoot_gazebo is not part of this repository — without it installed, xacro stops at that line with a package-not-found error. Everything else in this table needs only the files here.

Tip: the flattened URDFs reference meshes as package://robot_description/.... Outside ROS (e.g. Isaac Sim, PyBullet, Pinocchio), point your loader's package path at this repo's parent folder, or use the MJCF files directly.

TRON1 ecosystem

tron1-robot-description ──► tron1-rl-isaaclab / tron1-rl-isaacgym ──► tron1-mujoco-sim ──► tron1-rl-deploy-* ──► real TRON1
     (you are here)                     (train)                         (sim-to-sim)           (deploy)

Stage	Repository
Train	tron1-rl-isaaclab (recommended) · tron1-rl-isaacgym
Simulate	tron1-mujoco-sim · tron1-gazebo-ros · tron1-gazebo-ros2
Deploy	tron1-rl-deploy-python · tron1-rl-deploy-ros · tron1-rl-deploy-ros2

No robot yet? Run the pre-trained policies from tron1-rl-deploy-python inside tron1-mujoco-sim — nothing to train.

License

Apache License 2.0 © LimX Dynamics