[g1eus] Add Unitree g1 eus model and robot-interface for supporting general teleoperation framework#1947
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I found some descriptions under unitree_ros are ROS packages (e.g., https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description). |
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Is this readable in ros environment? I think we need to add `package://`
prefixes like unitreerobotics/unitree_ros#148
2026年4月17日(金) 23:46 Michitoshi Tsubaki ***@***.***>:
… *Michi-Tsubaki* left a comment (jsk-ros-pkg/jsk_robot#1947)
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/********************************************
* Yoshiki Obinata (大日方 慶樹)
* JSK Robotics Lab, The Univ. of Tokyo
* https://linktr.ee/obinata
********************************************/
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The current PR is based on the assumption that g1_description is the current configuration, and a urdf with the stl link rewritten with a unitree_controller package-relative prefix is generated under models when running catkin build. I read @mqcmd196 san's PR now and that's what I expected to be right! So I currently should change this to use your branch (in repos.yaml) and after merged your PR, I fixed it to the origin repo, shouldn't I? |
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I see, I overlooked the CMakeLists.txt changes. That is the good way to go. |
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メモ |
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メモ g1_rosでurdfが読めていなくて，ros2 controlのserviceが起動していない？ |
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Please provide git repo info of unitree_ros https://github.com/mqcmd196/g1_ros/blob/dc1b3b01f384380c30fc9ea624fb80762d1319e4/jazzy.repos.yaml#L6 |
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最新のcommitで，inspire handに対応し，実機で動作を確認しました． 以下，私の卒論のテレオペシステム with spacenav + タブレットによる歩行でペットボトルをg1が掴んで捨てに行く実機検証動画を報告させていただきます． 20260515_g1_teleop_bottol.mp4 |
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I cant specify why this ci fails, but ANW I applied the patch on #1948 by rebasing. |
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[g1eus] update README for readability and fix g1-interface.l path
pazeshun
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Jun 8, 2026
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Summary
Add Euslisp model for Unitree G1 teleoperation.
This PR introduces an
g1eustoword teleoperation of the Unitree G1 robot within the general teleoperation framework.Implementation details
Known Issues
unitree_controllerThis approach depends on workspace layout, and out of debian philosophy but it is what I can do at the moment.
The other method is to copy urdf and mesh to this repo. Making the g1_description ROS package is not realistic way.