add g1 urdf

2024-07-18 09:44:46 +08:00 · 2024-07-18 09:44:46 +08:00 · 7046463b4c
commit 7046463b4c
parent 7691e42abe
44 changed files with 1295 additions and 0 deletions
--- a/resources/robots/g1/meshes/head_link.STL
+++ b/resources/robots/g1/meshes/head_link.STL
--- a/resources/robots/g1/meshes/left_ankle_pitch_link.STL
+++ b/resources/robots/g1/meshes/left_ankle_pitch_link.STL
--- a/resources/robots/g1/meshes/left_ankle_roll_link.STL
+++ b/resources/robots/g1/meshes/left_ankle_roll_link.STL
--- a/resources/robots/g1/meshes/left_elbow_pitch_link.STL
+++ b/resources/robots/g1/meshes/left_elbow_pitch_link.STL
--- a/resources/robots/g1/meshes/left_elbow_roll_link.STL
+++ b/resources/robots/g1/meshes/left_elbow_roll_link.STL
--- a/resources/robots/g1/meshes/left_five_link.STL
+++ b/resources/robots/g1/meshes/left_five_link.STL
--- a/resources/robots/g1/meshes/left_four_link.STL
+++ b/resources/robots/g1/meshes/left_four_link.STL
--- a/resources/robots/g1/meshes/left_hip_pitch_link.STL
+++ b/resources/robots/g1/meshes/left_hip_pitch_link.STL
--- a/resources/robots/g1/meshes/left_hip_roll_link.STL
+++ b/resources/robots/g1/meshes/left_hip_roll_link.STL
--- a/resources/robots/g1/meshes/left_hip_yaw_link.STL
+++ b/resources/robots/g1/meshes/left_hip_yaw_link.STL
--- a/resources/robots/g1/meshes/left_knee_link.STL
+++ b/resources/robots/g1/meshes/left_knee_link.STL
--- a/resources/robots/g1/meshes/left_one_link.STL
+++ b/resources/robots/g1/meshes/left_one_link.STL
--- a/resources/robots/g1/meshes/left_palm_link.STL
+++ b/resources/robots/g1/meshes/left_palm_link.STL
--- a/resources/robots/g1/meshes/left_shoulder_pitch_link.STL
+++ b/resources/robots/g1/meshes/left_shoulder_pitch_link.STL
--- a/resources/robots/g1/meshes/left_shoulder_roll_link.STL
+++ b/resources/robots/g1/meshes/left_shoulder_roll_link.STL
--- a/resources/robots/g1/meshes/left_shoulder_yaw_link.STL
+++ b/resources/robots/g1/meshes/left_shoulder_yaw_link.STL
--- a/resources/robots/g1/meshes/left_six_link.STL
+++ b/resources/robots/g1/meshes/left_six_link.STL
--- a/resources/robots/g1/meshes/left_three_link.STL
+++ b/resources/robots/g1/meshes/left_three_link.STL
--- a/resources/robots/g1/meshes/left_two_link.STL
+++ b/resources/robots/g1/meshes/left_two_link.STL
--- a/resources/robots/g1/meshes/left_zero_link.STL
+++ b/resources/robots/g1/meshes/left_zero_link.STL
--- a/resources/robots/g1/meshes/logo_link.STL
+++ b/resources/robots/g1/meshes/logo_link.STL
--- a/resources/robots/g1/meshes/pelvis.STL
+++ b/resources/robots/g1/meshes/pelvis.STL
--- a/resources/robots/g1/meshes/pelvis_contour_link.STL
+++ b/resources/robots/g1/meshes/pelvis_contour_link.STL
--- a/resources/robots/g1/meshes/right_ankle_pitch_link.STL
+++ b/resources/robots/g1/meshes/right_ankle_pitch_link.STL
--- a/resources/robots/g1/meshes/right_ankle_roll_link.STL
+++ b/resources/robots/g1/meshes/right_ankle_roll_link.STL
--- a/resources/robots/g1/meshes/right_elbow_pitch_link.STL
+++ b/resources/robots/g1/meshes/right_elbow_pitch_link.STL
--- a/resources/robots/g1/meshes/right_elbow_roll_link.STL
+++ b/resources/robots/g1/meshes/right_elbow_roll_link.STL
--- a/resources/robots/g1/meshes/right_five_link.STL
+++ b/resources/robots/g1/meshes/right_five_link.STL
--- a/resources/robots/g1/meshes/right_four_link.STL
+++ b/resources/robots/g1/meshes/right_four_link.STL
--- a/resources/robots/g1/meshes/right_hip_pitch_link.STL
+++ b/resources/robots/g1/meshes/right_hip_pitch_link.STL
--- a/resources/robots/g1/meshes/right_hip_roll_link.STL
+++ b/resources/robots/g1/meshes/right_hip_roll_link.STL
--- a/resources/robots/g1/meshes/right_hip_yaw_link.STL
+++ b/resources/robots/g1/meshes/right_hip_yaw_link.STL
--- a/resources/robots/g1/meshes/right_knee_link.STL
+++ b/resources/robots/g1/meshes/right_knee_link.STL
--- a/resources/robots/g1/meshes/right_one_link.STL
+++ b/resources/robots/g1/meshes/right_one_link.STL
--- a/resources/robots/g1/meshes/right_palm_link.STL
+++ b/resources/robots/g1/meshes/right_palm_link.STL
--- a/resources/robots/g1/meshes/right_shoulder_pitch_link.STL
+++ b/resources/robots/g1/meshes/right_shoulder_pitch_link.STL
--- a/resources/robots/g1/meshes/right_shoulder_roll_link.STL
+++ b/resources/robots/g1/meshes/right_shoulder_roll_link.STL
--- a/resources/robots/g1/meshes/right_shoulder_yaw_link.STL
+++ b/resources/robots/g1/meshes/right_shoulder_yaw_link.STL
--- a/resources/robots/g1/meshes/right_six_link.STL
+++ b/resources/robots/g1/meshes/right_six_link.STL
--- a/resources/robots/g1/meshes/right_three_link.STL
+++ b/resources/robots/g1/meshes/right_three_link.STL
--- a/resources/robots/g1/meshes/right_two_link.STL
+++ b/resources/robots/g1/meshes/right_two_link.STL
--- a/resources/robots/g1/meshes/right_zero_link.STL
+++ b/resources/robots/g1/meshes/right_zero_link.STL
--- a/resources/robots/g1/meshes/torso_link.STL
+++ b/resources/robots/g1/meshes/torso_link.STL
--- a/resources/robots/g1/urdf/g1.urdf
+++ b/resources/robots/g1/urdf/g1.urdf