From 8744d0b4f9a5344572b9a44827e8d50017066b47 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Fri, 17 Apr 2026 18:52:52 +0900
Subject: [PATCH 01/10] Support Euslisp model for Unitree G1 Humanoid

---
 jsk_g1_robot/g1eus/.gitignore             |   2 +
 jsk_g1_robot/g1eus/CMakeLists.txt         |  52 ++++++++++++++++++++
 jsk_g1_robot/g1eus/README.md              |  17 +++++++
 jsk_g1_robot/g1eus/config/g1.yaml         |  57 ++++++++++++++++++++++
 jsk_g1_robot/g1eus/euslisp/g1-interface.l |  16 ++++++
 jsk_g1_robot/g1eus/figs/g1eus.png         | Bin 0 -> 35768 bytes
 jsk_g1_robot/g1eus/package.xml            |  12 +++++
 jsk_g1_robot/g1eus/ros-o.repos.yaml       |   9 ++++
 8 files changed, 165 insertions(+)
 create mode 100644 jsk_g1_robot/g1eus/.gitignore
 create mode 100644 jsk_g1_robot/g1eus/CMakeLists.txt
 create mode 100644 jsk_g1_robot/g1eus/README.md
 create mode 100644 jsk_g1_robot/g1eus/config/g1.yaml
 create mode 100644 jsk_g1_robot/g1eus/euslisp/g1-interface.l
 create mode 100644 jsk_g1_robot/g1eus/figs/g1eus.png
 create mode 100644 jsk_g1_robot/g1eus/package.xml
 create mode 100644 jsk_g1_robot/g1eus/ros-o.repos.yaml

diff --git a/jsk_g1_robot/g1eus/.gitignore b/jsk_g1_robot/g1eus/.gitignore
new file mode 100644
index 0000000000..018fcba334
--- /dev/null
+++ b/jsk_g1_robot/g1eus/.gitignore
@@ -0,0 +1,2 @@
+euslisp/g1.l
+models/g1.urdf
\ No newline at end of file
diff --git a/jsk_g1_robot/g1eus/CMakeLists.txt b/jsk_g1_robot/g1eus/CMakeLists.txt
new file mode 100644
index 0000000000..8b898045f1
--- /dev/null
+++ b/jsk_g1_robot/g1eus/CMakeLists.txt
@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(g1eus)
+
+find_package(catkin REQUIRED COMPONENTS
+  euscollada
+  pr2eus
+  unitree_controller
+)
+
+catkin_package(
+  CATKIN_DEPENDS euscollada pr2eus unitree_controller
+)
+
+set(G1_DESCRIPTION_DIR ${unitree_controller_SOURCE_PREFIX}/../robots/g1_description)
+set(G1_SOURCE_URDF ${G1_DESCRIPTION_DIR}/g1_29dof.urdf)
+set(G1_GENERATED_URDF ${PROJECT_SOURCE_DIR}/models/g1.urdf)
+set(G1_EUSLISP ${PROJECT_SOURCE_DIR}/euslisp/g1.l)
+
+if(NOT EXISTS ${G1_SOURCE_URDF})
+  message(FATAL_ERROR "Could not find G1 URDF at ${G1_SOURCE_URDF}")
+endif()
+
+file(READ ${G1_SOURCE_URDF} G1_URDF_CONTENT)
+string(REPLACE
+  "filename=\"meshes/"
+  "filename=\"package://unitree_controller/../robots/g1_description/meshes/"
+  G1_URDF_CONTENT
+  "${G1_URDF_CONTENT}")
+string(REPLACE
+  "<robot name=\"g1_29dof\">"
+  "<robot name=\"g1\">"
+  G1_URDF_CONTENT
+  "${G1_URDF_CONTENT}")
+file(WRITE ${G1_GENERATED_URDF} "${G1_URDF_CONTENT}")
+
+add_custom_command(
+  OUTPUT ${G1_EUSLISP}
+  COMMAND rosrun euscollada collada2eus -I ${G1_GENERATED_URDF} -N g1 -C ${PROJECT_SOURCE_DIR}/config/g1.yaml -O ${G1_EUSLISP}
+  DEPENDS ${G1_GENERATED_URDF} ${PROJECT_SOURCE_DIR}/config/g1.yaml
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+  COMMENT "Generating G1 EusLisp model"
+)
+
+add_custom_target(generate_g1_eus_model ALL DEPENDS ${G1_EUSLISP})
+
+install(DIRECTORY config euslisp models
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+
+install(FILES ${G1_GENERATED_URDF} ${G1_EUSLISP}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  OPTIONAL)
diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
new file mode 100644
index 0000000000..59ff9d8b1c
--- /dev/null
+++ b/jsk_g1_robot/g1eus/README.md
@@ -0,0 +1,17 @@
+# g1eus
+![g1eus](./figs/g1eus.png)
+## Setup
+
+Please install ROS 1 and some development tools like rosdep, vcstools at first.
+
+Then build the packages.
+
+```shell
+source /opt/ros/<ROS DISTRO>/setup.bash
+mkdir -p <catkin workspace>/src
+cd <catkin workspace>/src
+wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/refs/heads/master/jsk_g1_robot/g1eus/ros-o.repos.yaml -O- | vcs import
+sudo apt update && rosdep update && rosdep install -iqry --from-paths .
+cd ..
+catkin build g1eus
+```
diff --git a/jsk_g1_robot/g1eus/config/g1.yaml b/jsk_g1_robot/g1eus/config/g1.yaml
new file mode 100644
index 0000000000..350f299cde
--- /dev/null
+++ b/jsk_g1_robot/g1eus/config/g1.yaml
@@ -0,0 +1,57 @@
+torso:
+  - waist_yaw_joint   : torso-waist-y
+  - waist_roll_joint  : torso-waist-r
+  - waist_pitch_joint : torso-waist-p
+
+lleg:
+  - left_hip_pitch_joint   : lleg-hip-p
+  - left_hip_roll_joint    : lleg-hip-r
+  - left_hip_yaw_joint     : lleg-hip-y
+  - left_knee_joint        : lleg-knee-p
+  - left_ankle_pitch_joint : lleg-ankle-p
+  - left_ankle_roll_joint  : lleg-ankle-r
+
+rleg:
+  - right_hip_pitch_joint   : rleg-hip-p
+  - right_hip_roll_joint    : rleg-hip-r
+  - right_hip_yaw_joint     : rleg-hip-y
+  - right_knee_joint        : rleg-knee-p
+  - right_ankle_pitch_joint : rleg-ankle-p
+  - right_ankle_roll_joint  : rleg-ankle-r
+
+larm:
+  - left_shoulder_pitch_joint : larm-shoulder-p
+  - left_shoulder_roll_joint  : larm-shoulder-r
+  - left_shoulder_yaw_joint   : larm-shoulder-y
+  - left_elbow_joint          : larm-elbow-p
+  - left_wrist_roll_joint     : larm-wrist-r
+  - left_wrist_pitch_joint    : larm-wrist-p
+  - left_wrist_yaw_joint      : larm-wrist-y
+
+rarm:
+  - right_shoulder_pitch_joint : rarm-shoulder-p
+  - right_shoulder_roll_joint  : rarm-shoulder-r
+  - right_shoulder_yaw_joint   : rarm-shoulder-y
+  - right_elbow_joint          : rarm-elbow-p
+  - right_wrist_roll_joint     : rarm-wrist-r
+  - right_wrist_pitch_joint    : rarm-wrist-p
+  - right_wrist_yaw_joint      : rarm-wrist-y
+
+angle-vector:
+  reset-pose : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+larm-end-coords:
+  parent    : left_wrist_yaw_link
+  translate : [0.1, 0.0, 0.0]
+
+rarm-end-coords:
+  parent    : right_wrist_yaw_link
+  translate : [0.1, 0.0, 0.0]
+
+lleg-end-coords:
+  parent    : left_ankle_roll_link
+  translate : [0.0, 0.0, 0.0]
+
+rleg-end-coords:
+  parent    : right_ankle_roll_link
+  translate : [0.0, 0.0, 0.0]
diff --git a/jsk_g1_robot/g1eus/euslisp/g1-interface.l b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
new file mode 100644
index 0000000000..62978affd9
--- /dev/null
+++ b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
@@ -0,0 +1,16 @@
+(load "package://pr2eus/robot-interface.l")
+(require :g1 "package://g1eus/euslisp/g1.l")
+
+(defclass g1-interface
+  :super robot-interface
+  :slots ())
+
+(defmethod g1-interface
+  (:init (&rest args)
+    (send-super :init :robot g1-robot)))
+
+(defun g1-init ()
+  (unless (boundp '*ri*)
+    (setq *ri* (instance g1-interface :init)))
+  (unless (boundp '*g1*)
+    (setq *g1* (instance g1-robot :init))))
diff --git a/jsk_g1_robot/g1eus/figs/g1eus.png b/jsk_g1_robot/g1eus/figs/g1eus.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9899fc088379e5f33f30568c7398775b964b73a
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literal 0
HcmV?d00001

diff --git a/jsk_g1_robot/g1eus/package.xml b/jsk_g1_robot/g1eus/package.xml
new file mode 100644
index 0000000000..fa90081a19
--- /dev/null
+++ b/jsk_g1_robot/g1eus/package.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>g1eus</name>
+  <version>0.0.0</version>
+  <description>This package provides EusLisp interface for Unitree G1 Robot</description>
+  <maintainer email="tsubaki@jsk.t.u-tokyo.ac.jp">leus</maintainer>
+  <license>BSD</license>
+  <depend>euscollada</depend>
+  <depend>pr2eus</depend>
+  <depend>unitree_controller</depend>
+  <buildtool_depend>catkin</buildtool_depend>
+</package>
diff --git a/jsk_g1_robot/g1eus/ros-o.repos.yaml b/jsk_g1_robot/g1eus/ros-o.repos.yaml
new file mode 100644
index 0000000000..404a0d4992
--- /dev/null
+++ b/jsk_g1_robot/g1eus/ros-o.repos.yaml
@@ -0,0 +1,9 @@
+repositories:
+  unitree/unitree_ros:
+    type: git
+    url: https://github.com/unitreerobotics/unitree_ros.git
+    version: master
+  unitree/unitree_ros_to_real:
+    type: git
+    url: https://github.com/unitreerobotics/unitree_ros_to_real.git
+    version: master

From f2c51e2440142076193ff8c4676ab82e650627e4 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Sat, 18 Apr 2026 00:47:05 +0900
Subject: [PATCH 02/10] Change controller from fullbody to upperbody

---
 jsk_g1_robot/g1eus/euslisp/g1-interface.l | 35 ++++++++++++++++++++++-
 1 file changed, 34 insertions(+), 1 deletion(-)

diff --git a/jsk_g1_robot/g1eus/euslisp/g1-interface.l b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
index 62978affd9..a25742ae21 100644
--- a/jsk_g1_robot/g1eus/euslisp/g1-interface.l
+++ b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
@@ -6,8 +6,41 @@
   :slots ())
 
 (defmethod g1-interface
+  (:upper-body-controller
+   ()
+   (list
+    (list
+     (cons :controller-action "upper_body_controller/follow_joint_trajectory")
+     (cons :controller-state "upper_body_controller/state")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names    (list
+			    "waist_yaw_joint"
+			    "waist_roll_joint"
+			    "waist_pitch_joint"
+			    "left_shoulder_pitch_joint"
+			    "left_shoulder_roll_joint"
+			    "left_shoulder_yaw_joint"
+			    "left_elbow_joint"
+			    "left_wrist_roll_joint"
+			    "left_wrist_pitch_joint"
+			    "left_wrist_yaw_joint"
+			    "right_shoulder_pitch_joint"
+			    "right_shoulder_roll_joint"
+			    "right_shoulder_yaw_joint"
+			    "right_elbow_joint"
+			    "right_wrist_roll_joint"
+			    "right_wrist_pitch_joint"
+			    "right_wrist_yaw_joint")))))
+
+  (:default-controller
+   ()
+   (append
+    (send self :upper-body-controller)
+    )
+   )
+
   (:init (&rest args)
-    (send-super :init :robot g1-robot)))
+    (send-super* :init :robot g1-robot args)))
 
 (defun g1-init ()
   (unless (boundp '*ri*)

From cb7e6add969884ea577ebe3de779d18ac6c9d249 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <149882374+Michi-Tsubaki@users.noreply.github.com>
Date: Sat, 18 Apr 2026 12:30:12 +0900
Subject: [PATCH 03/10] Update package.xml

---
 jsk_g1_robot/g1eus/package.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_g1_robot/g1eus/package.xml b/jsk_g1_robot/g1eus/package.xml
index fa90081a19..beedfd9099 100644
--- a/jsk_g1_robot/g1eus/package.xml
+++ b/jsk_g1_robot/g1eus/package.xml
@@ -3,7 +3,8 @@
   <name>g1eus</name>
   <version>0.0.0</version>
   <description>This package provides EusLisp interface for Unitree G1 Robot</description>
-  <maintainer email="tsubaki@jsk.t.u-tokyo.ac.jp">leus</maintainer>
+  <maintainer email="k-okada@jsk.t.u-tokyo.ac.jp">Kei Okada</maintainer>
+  <author email="tsubaki@jsk.t.u-tokyo.ac.jp">Michitoshi Tsubaki</author>
   <license>BSD</license>
   <depend>euscollada</depend>
   <depend>pr2eus</depend>

From d511e452bae183f47ab28872b3e81823b53152a8 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Fri, 15 May 2026 18:46:00 +0900
Subject: [PATCH 04/10] Update readme

---
 jsk_g1_robot/g1eus/README.md | 120 +++++++++++++++++++++++++++++++++--
 1 file changed, 116 insertions(+), 4 deletions(-)

diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
index 59ff9d8b1c..3f2a1d45c5 100644
--- a/jsk_g1_robot/g1eus/README.md
+++ b/jsk_g1_robot/g1eus/README.md
@@ -1,17 +1,129 @@
 # g1eus
 ![g1eus](./figs/g1eus.png)
+
 ## Setup
 
+### Clone this repository in your catkin workspace (ros1)
+```
+mkdir -p <desirable path to your catkin workspace>/src
+cd <path to your catkin workspace>/src
+git clone git@github.com:Michi-Tsubaki/jsk_robot.git -b support-eus-unitree-g1
+```
+
+
+### Build package
 Please install ROS 1 and some development tools like rosdep, vcstools at first.
 
-Then build the packages.
+Then build the packages by running the following commands.
 
 ```shell
 source /opt/ros/<ROS DISTRO>/setup.bash
-mkdir -p <catkin workspace>/src
-cd <catkin workspace>/src
-wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/refs/heads/master/jsk_g1_robot/g1eus/ros-o.repos.yaml -O- | vcs import
+cd <path to your catkin workspace>/src
+wget https://raw.githubusercontent.com/Michi-Tsubaki/jsk_robot/refs/heads/support-eus-unitree-g1/jsk_g1_robot/g1eus/ros-o.repos.yaml -O- | vcs import
 sudo apt update && rosdep update && rosdep install -iqry --from-paths .
 cd ..
 catkin build g1eus
 ```
+
+
+## How to use real robot
+
+### Build g1_ros (ROS2 package)
+
+```bash
+source /opt/ros/<ROS2 DISTRO>/setup.bash
+mkdir -p <path to your desirable colcon workspace>/src
+cd <path to colcon workspace>/src
+wget https://raw.githubusercontent.com/mqcmd196/g1_ros/refs/heads/master/jazzy.repos.yaml -O- | vcs import
+sudo apt update && rosdep update && rosdep install -iqry --from-paths .
+cd ..
+colcon build --symlink-install --packages-up-to g1_bringup
+```
+
+For more information, please visit [g1_ros](https://github.com/mqcmd196/g1_ros)
+
+### Install ros1_bridge
+ros1_bridge is a ROS2 package. Please check [here](https://github.com/ros-o/ros1_bridge)
+
+The deb file for this package is shared at https://drive.google.com/file/d/1jXZlvovTGa_PU6stJOznvv5ZYkarB62n/view?usp=sharing
+
+Please download this deb file and install the package:
+
+```bash
+cd ~/Downloads
+sudo apt install ./ros-jazzy-ros1-bridge_0.10.3-0noble_amd64.deb
+```
+
+
+### Preparation
+
+#### Connect Ethernet cable from g1 to your computer
+
+Please connect your computer to the robot following [official instruction](https://support.unitree.com/home/en/G1_developer/quick_development#heading-7). Please check the network interface name.
+
+Also please allocate the correct IP adress instructed [official instruction](https://support.unitree.com/home/en/G1_developer/quick_development#heading-7) manually.
+
+
+### Execution
+
+- terminal 1
+
+```bash
+source <path to your catkin ws>/setup.bash
+roscore
+```
+
+- terminal 2 (Bringup hands)
+
+```bash
+ssh unitree@192.168.123.164  # default password is 123
+cd dfx_inspire_service/build/
+sudo ./inspire_g1 -k -u
+```
+
+- terminal 3 (Bringup robot as a ROS2 robot)
+
+```bash
+source <path_to_your_colcon_ws>/setup.bash
+ros2 launch g1_bringup g1_bringup.launch.py network_interface:=enp0s31f6 hand_type:=inspire_dfq
+```
+
+- terminal 4 (Activate ros2_control upper_body_controller)
+```bash
+source <path_to_your_colcon_ws>/setup.bash
+ros2 control set_controller_state upper_body_controller active
+```
+
+- terminal 5 (Bridge ros2 topic and action to ros1 topic and actionlib)
+```bash
+source <path_to_your_colcon_ws>/setup.bash
+source <path_to_your_catkin_ws>/setup.bash
+ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
+```
+
+- terminal 6 (Please run your own program using g1-interface.l)
+```bash
+cd euslisp
+roseus
+load "g1-interface.l"
+```
+
+
+## Tips
+
+- Hand Interface
+
+```roseus
+(send *ri* :hand-angle-vector :larm #f(0 0 0 0 0 0) 1000) ;; to move left hand.
+
+;; Open
+(send *ri* :stop-grasp :larm) ;; to move left hand.
+;; Before grasping
+(send *ri* :prepare-grasp :larm) ;; to move left hand.
+;; Grasp
+(send *ri* :start-grasp :larm) ;; to move left hand.
+;; Power-of position
+(send *ri* :default-grasp :larm) ;; to move left hand.
+```
+
+Other methods than the hand interface is inherit from pr2eus.
\ No newline at end of file

From a385c3cad5cffabe668f9bf7d69f0d0ad923ea40 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Fri, 15 May 2026 18:46:13 +0900
Subject: [PATCH 05/10] Add hand interface

---
 jsk_g1_robot/g1eus/euslisp/g1-interface.l | 137 +++++++++++++++++++++-
 1 file changed, 135 insertions(+), 2 deletions(-)

diff --git a/jsk_g1_robot/g1eus/euslisp/g1-interface.l b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
index a25742ae21..449a72d7bb 100644
--- a/jsk_g1_robot/g1eus/euslisp/g1-interface.l
+++ b/jsk_g1_robot/g1eus/euslisp/g1-interface.l
@@ -3,9 +3,38 @@
 
 (defclass g1-interface
   :super robot-interface
-  :slots ())
+  :slots (hand-actions-
+          hand-joint-names-))
 
 (defmethod g1-interface
+  (:arm-to-hand-controller-name
+   (arm)
+   (case arm
+     (:rarm "right_hand_controller")
+     (:larm "left_hand_controller")
+     (t nil)))
+
+  (:default-hand-joint-names
+   (arm)
+   (case arm
+     (:rarm
+      (list
+       "R_thumb_proximal_yaw_joint"
+       "R_thumb_proximal_pitch_joint"
+       "R_index_proximal_joint"
+       "R_middle_proximal_joint"
+       "R_ring_proximal_joint"
+       "R_pinky_proximal_joint"))
+     (:larm
+      (list
+       "L_thumb_proximal_yaw_joint"
+       "L_thumb_proximal_pitch_joint"
+       "L_index_proximal_joint"
+       "L_middle_proximal_joint"
+       "L_ring_proximal_joint"
+       "L_pinky_proximal_joint"))
+     (t nil)))
+
   (:upper-body-controller
    ()
    (list
@@ -40,7 +69,111 @@
    )
 
   (:init (&rest args)
-    (send-super* :init :robot g1-robot args)))
+    (send-super* :init :robot g1-robot args)
+    (setq hand-actions- (make-hash-table))
+    (setq hand-joint-names- (make-hash-table))
+    (dolist (arm (list :rarm :larm))
+      (let* ((controller-name (send self :arm-to-hand-controller-name arm))
+             (action-name (format nil "~a/follow_joint_trajectory" controller-name))
+             (joint-names (ros::get-param (format nil "~a/joints" controller-name)
+                                           (send self :default-hand-joint-names arm)))
+             action)
+        (sethash arm hand-joint-names- joint-names)
+        (setq action
+              (instance ros::simple-action-client :init
+                        action-name
+                        control_msgs::FollowJointTrajectoryAction
+                        :groupname groupname))
+        (if (and joint-action-enable (send action :wait-for-server 3))
+          (sethash arm hand-actions- action)
+          (ros::ros-warn "~A is not respond" action)))))
+
+;;  (:larm (&rest args)
+;;   (send* self :limb :larm args))
+
+;;  (:rarm (&rest args)
+;;   (send* self :limb :rarm args))
+
+;;  (:limb
+;;   (arm &rest args)
+;;   (case (car args)
+;;     (:hand-angle-vector
+;;      (send* self :hand-angle-vector arm (cdr args)))
+;;     (:cancel-hand-angle-vector
+;;      (send self :cancel-hand-angle-vector arm))
+;;     (:hand-interpolatingp
+;;      (send self :hand-interpolatingp arm))
+;;     (t
+;;      (send* robot arm args))))
+
+  (:stop-grasp
+   (arm)
+   (send self :hand-angle-vector arm #f(0 0 0 0 0 0) 1000))
+
+  (:prepare-grasp
+   (arm)
+   (send self :hand-angle-vector arm #f(100 0 0 0 0 0) 1000))
+  
+  (:start-grasp
+   (arm)
+   (send self :hand-angle-vector arm #f(40 20 80 80 80 80) 1000))
+
+  (:default-grasp
+   (arm)
+   (send self :hand-angle-vector arm #f(10 30 100 100 100 100) 1000))
+
+  (:hand-angle-vector
+   (arm av tm &key (wait t))
+   (let ((action (gethash arm hand-actions-))
+         (names (gethash arm hand-joint-names-)))
+     (cond
+       ((null action)
+        (ros::ros-warn "hand action for ~A is not available" arm)
+        nil)
+       ((null names)
+        (ros::ros-warn "joint names for ~A hand are not available" arm)
+        nil)
+       ((/= (length av) (length names))
+        (ros::ros-warn "hand angle-vector length ~A does not match joint names length ~A for ~A"
+                       (length av) (length names) arm)
+        nil)
+       (t
+        (let ((av-list (coerce av cons))
+              res
+              (goal (instance control_msgs::FollowJointTrajectoryActionGoal :init))
+              (traj (instance trajectory_msgs::JointTrajectory :init)))
+          (send traj :header :seq 1)
+          (send traj :header :stamp (ros::time-now))
+          (send traj :joint_names names)
+          (send traj :points
+                (list (instance trajectory_msgs::JointTrajectoryPoint
+                                :init
+                                :positions (mapcar #'deg2rad av-list)
+                                :time_from_start (ros::time (/ tm 1000)))))
+          (send goal :goal :trajectory traj)
+          (send action :send-goal goal)
+          (setq res (send action :get-result))
+          (when wait
+            (send action :wait-for-result)
+            (setq res (send action :get-result)))
+          (unless (eq (send res :error_code) 0)
+            (warning-message 3 ":hand-angle-vector error code ~A returns from JTA: ~A~%"
+                             (send res :error_code) (send res :error_string)))
+          res)))))
+
+  (:cancel-hand-angle-vector
+   (arm)
+   (let ((action (gethash arm hand-actions-)))
+     (if action
+       (send action :cancel-goal)
+       (ros::ros-warn "hand action for ~A is not available" arm))))
+
+  (:hand-interpolatingp
+   (arm)
+   (send self :spin-once)
+   (let ((action (gethash arm hand-actions-)))
+     (and action
+          (eq (send action :get-state) ros::*simple-goal-state-active*)))))
 
 (defun g1-init ()
   (unless (boundp '*ri*)

From 8c304c19e2dea942ac6500fab58611f655111862 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Wed, 20 May 2026 12:33:33 +0900
Subject: [PATCH 06/10] Update README

---
 jsk_g1_robot/g1eus/README.md | 32 +++++++++++++++++++++++++-------
 1 file changed, 25 insertions(+), 7 deletions(-)

diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
index 3f2a1d45c5..8543f60963 100644
--- a/jsk_g1_robot/g1eus/README.md
+++ b/jsk_g1_robot/g1eus/README.md
@@ -69,7 +69,7 @@ Also please allocate the correct IP adress instructed [official instruction](htt
 - terminal 1
 
 ```bash
-source <path to your catkin ws>/setup.bash
+source <path to your catkin ws>/devel/setup.bash
 roscore
 ```
 
@@ -84,30 +84,48 @@ sudo ./inspire_g1 -k -u
 - terminal 3 (Bringup robot as a ROS2 robot)
 
 ```bash
-source <path_to_your_colcon_ws>/setup.bash
-ros2 launch g1_bringup g1_bringup.launch.py network_interface:=enp0s31f6 hand_type:=inspire_dfq
+source <path_to_your_colcon_ws>/install/setup.bash
+ros2 launch g1_bringup g1_bringup.launch.py network_interface:=<network (ex. enp0s31f6)> hand_type:=inspire_dfq
 ```
 
 - terminal 4 (Activate ros2_control upper_body_controller)
 ```bash
-source <path_to_your_colcon_ws>/setup.bash
+source <path_to_your_colcon_ws>/install/setup.bash
 ros2 control set_controller_state upper_body_controller active
 ```
 
 - terminal 5 (Bridge ros2 topic and action to ros1 topic and actionlib)
 ```bash
-source <path_to_your_colcon_ws>/setup.bash
-source <path_to_your_catkin_ws>/setup.bash
+source <path_to_your_colcon_ws>/install/setup.bash
+source <path_to_your_catkin_ws>/devel/setup.bash
 ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
 ```
 
-- terminal 6 (Please run your own program using g1-interface.l)
+- terminal 6 ~ (Please run your own program using g1-interface.l)
 ```bash
 cd euslisp
 roseus
 load "g1-interface.l"
 ```
 
+### If you want to do teleoperation using spacenav
+
+- terminal 6
+
+``` bash
+source <path_to_your_catkin_ws>/devel/setup.bash
+roscd jsk_generic_teleop/launch # When you can't reach this package, please install the package.
+roslaunch spacenav_classic.launch
+```
+
+- terminal 7
+
+``` bash
+source <path_to_your_catkin_ws>/devel/setup.bash
+roscd jsk_generic_teleop/sample
+roseus spacenav_classic.launch
+```
+
 
 ## Tips
 

From c74c26211e8f8ebc41221e8b4810f0298eaa90f1 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 21 May 2026 15:14:14 +0900
Subject: [PATCH 07/10] [g1eus] update README for readability and fix
 g1-interface.l path

---
 jsk_g1_robot/g1eus/README.md                    | 16 ++++++++++------
 jsk_g1_robot/g1eus/{euslisp => }/g1-interface.l |  0
 2 files changed, 10 insertions(+), 6 deletions(-)
 rename jsk_g1_robot/g1eus/{euslisp => }/g1-interface.l (100%)

diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
index 8543f60963..f6f4f91359 100644
--- a/jsk_g1_robot/g1eus/README.md
+++ b/jsk_g1_robot/g1eus/README.md
@@ -101,11 +101,15 @@ source <path_to_your_catkin_ws>/devel/setup.bash
 ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
 ```
 
-- terminal 6 ~ (Please run your own program using g1-interface.l)
-```bash
-cd euslisp
-roseus
-load "g1-interface.l"
+- terminal 6 ~ (Optional)
+Please run your own program using g1-interface.l like
+
+```shell
+source <path_to_your_catkin_ws>/devel/setup.bash
+```
+
+```lisp
+(load "package://g1eus/g1-interface.l")
 ```
 
 ### If you want to do teleoperation using spacenav
@@ -144,4 +148,4 @@ roseus spacenav_classic.launch
 (send *ri* :default-grasp :larm) ;; to move left hand.
 ```
 
-Other methods than the hand interface is inherit from pr2eus.
\ No newline at end of file
+Other methods than the hand interface is inherit from pr2eus.
diff --git a/jsk_g1_robot/g1eus/euslisp/g1-interface.l b/jsk_g1_robot/g1eus/g1-interface.l
similarity index 100%
rename from jsk_g1_robot/g1eus/euslisp/g1-interface.l
rename to jsk_g1_robot/g1eus/g1-interface.l

From 5df4f7d5ca52c8bc3417b505fac78e5658695ae0 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 21 May 2026 15:29:51 +0900
Subject: [PATCH 08/10] [g1eus] update docs for using squashed version of
 spacenav teleop

---
 jsk_g1_robot/g1eus/README.md | 11 +----------
 1 file changed, 1 insertion(+), 10 deletions(-)

diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
index f6f4f91359..025abbb40c 100644
--- a/jsk_g1_robot/g1eus/README.md
+++ b/jsk_g1_robot/g1eus/README.md
@@ -118,16 +118,7 @@ source <path_to_your_catkin_ws>/devel/setup.bash
 
 ``` bash
 source <path_to_your_catkin_ws>/devel/setup.bash
-roscd jsk_generic_teleop/launch # When you can't reach this package, please install the package.
-roslaunch spacenav_classic.launch
-```
-
-- terminal 7
-
-``` bash
-source <path_to_your_catkin_ws>/devel/setup.bash
-roscd jsk_generic_teleop/sample
-roseus spacenav_classic.launch
+roslaunch jsk_generic_teleop spacenav_classic.launch
 ```
 
 

From 3ddb4239664091753bd30cca4c1c8d9e73f448b0 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Fri, 22 May 2026 15:13:03 +0900
Subject: [PATCH 09/10] Fix path of g1.l and README following
 jsk_generic_teleop

---
 jsk_g1_robot/g1eus/.gitignore     | 2 +-
 jsk_g1_robot/g1eus/CMakeLists.txt | 4 ++--
 jsk_g1_robot/g1eus/README.md      | 4 ++--
 jsk_g1_robot/g1eus/g1-interface.l | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/jsk_g1_robot/g1eus/.gitignore b/jsk_g1_robot/g1eus/.gitignore
index 018fcba334..b8af841467 100644
--- a/jsk_g1_robot/g1eus/.gitignore
+++ b/jsk_g1_robot/g1eus/.gitignore
@@ -1,2 +1,2 @@
-euslisp/g1.l
+g1.l
 models/g1.urdf
\ No newline at end of file
diff --git a/jsk_g1_robot/g1eus/CMakeLists.txt b/jsk_g1_robot/g1eus/CMakeLists.txt
index 8b898045f1..8e0920c79d 100644
--- a/jsk_g1_robot/g1eus/CMakeLists.txt
+++ b/jsk_g1_robot/g1eus/CMakeLists.txt
@@ -14,7 +14,7 @@ catkin_package(
 set(G1_DESCRIPTION_DIR ${unitree_controller_SOURCE_PREFIX}/../robots/g1_description)
 set(G1_SOURCE_URDF ${G1_DESCRIPTION_DIR}/g1_29dof.urdf)
 set(G1_GENERATED_URDF ${PROJECT_SOURCE_DIR}/models/g1.urdf)
-set(G1_EUSLISP ${PROJECT_SOURCE_DIR}/euslisp/g1.l)
+set(G1_EUSLISP ${PROJECT_SOURCE_DIR}/g1.l)
 
 if(NOT EXISTS ${G1_SOURCE_URDF})
   message(FATAL_ERROR "Could not find G1 URDF at ${G1_SOURCE_URDF}")
@@ -47,6 +47,6 @@ install(DIRECTORY config euslisp models
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES ${G1_GENERATED_URDF} ${G1_EUSLISP}
+install(FILES ${G1_GENERATED_URDF} ${G1_EUSLISP} g1-interface.l
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   OPTIONAL)
diff --git a/jsk_g1_robot/g1eus/README.md b/jsk_g1_robot/g1eus/README.md
index 025abbb40c..6dd3d499b2 100644
--- a/jsk_g1_robot/g1eus/README.md
+++ b/jsk_g1_robot/g1eus/README.md
@@ -118,7 +118,7 @@ source <path_to_your_catkin_ws>/devel/setup.bash
 
 ``` bash
 source <path_to_your_catkin_ws>/devel/setup.bash
-roslaunch jsk_generic_teleop spacenav_classic.launch
+roslaunch jsk_generic_teleop g1_spacenav_teleop.launch
 ```
 
 
@@ -126,7 +126,7 @@ roslaunch jsk_generic_teleop spacenav_classic.launch
 
 - Hand Interface
 
-```roseus
+```lisp
 (send *ri* :hand-angle-vector :larm #f(0 0 0 0 0 0) 1000) ;; to move left hand.
 
 ;; Open
diff --git a/jsk_g1_robot/g1eus/g1-interface.l b/jsk_g1_robot/g1eus/g1-interface.l
index 449a72d7bb..203674a729 100644
--- a/jsk_g1_robot/g1eus/g1-interface.l
+++ b/jsk_g1_robot/g1eus/g1-interface.l
@@ -1,5 +1,5 @@
 (load "package://pr2eus/robot-interface.l")
-(require :g1 "package://g1eus/euslisp/g1.l")
+(require :g1 "package://g1eus/g1.l")
 
 (defclass g1-interface
   :super robot-interface

From 6de778a25f10eada291e89d9989186ad7ba99075 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Mon, 8 Jun 2026 15:14:44 +0900
Subject: [PATCH 10/10] Fix rounded seconds

---
 jsk_g1_robot/g1eus/g1-interface.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_g1_robot/g1eus/g1-interface.l b/jsk_g1_robot/g1eus/g1-interface.l
index 203674a729..78ff7b094e 100644
--- a/jsk_g1_robot/g1eus/g1-interface.l
+++ b/jsk_g1_robot/g1eus/g1-interface.l
@@ -149,7 +149,7 @@
                 (list (instance trajectory_msgs::JointTrajectoryPoint
                                 :init
                                 :positions (mapcar #'deg2rad av-list)
-                                :time_from_start (ros::time (/ tm 1000)))))
+                                :time_from_start (ros::time (/ tm 1000.0)))))
           (send goal :goal :trajectory traj)
           (send action :send-goal goal)
           (setq res (send action :get-result))