Galbot One Golf Description

ROS 2 description package for Galbot One Golf, including URDF descriptions and MJCF/USD models.

Build

colcon build --packages-select galbot_one_golf_description --symlink-install
source install/setup.bash

Git LFS

This package is usable as a minimal ROS 2 URDF description package without Git LFS. The URDF, xacro, launch/config files, and meshes referenced by URDF are stored in regular Git.

Install Git LFS only when you need the optional full MJCF/USD assets:

git lfs install
git lfs pull

LFS currently tracks binary assets under mjcf/meshes/ (.obj, .stl, .png) and usd/configuration/galbot_one_golf_base.usdc. Source description files such as .urdf, .xacro, .usda, .xml, .py, and .md remain regular Git files.

Display

ros2 launch galbot_one_golf_description display.launch.py
ros2 launch galbot_one_golf_description display.launch.py left_ee_type:=hitbot right_ee_type:=suction_cup
ros2 launch galbot_one_golf_description display.launch.py type:=left_arm
ros2 launch galbot_one_golf_description display.launch.py type:=omni_chassis

The type argument defaults to full. Component display types include omni_chassis, omniwheel, leg, torso, head, left_arm, right_arm, galbot_gripper, hitbot_gripper, suction_cup, and wrist_camera.

URDF

Preset URDF files:

• urdf/galbot_one_golf.urdf
• urdf/galbot_one_golf_fixed_base.urdf
• urdf/galbot_one_golf_left_hitbot_gripper_right_suction_cup.urdf

galbot_one_golf.urdf keeps the full visual model and exposes the four main wheel joints as continuous joints. galbot_one_golf_fixed_base.urdf keeps the same visual model but fixes the wheel joints for display, planning, and fixed-base conversion workflows. Passive omni-wheel roller joints are omitted from preset URDFs to keep the assets compact.

Generate another URDF from xacro:

python3 scripts/create_description.py --left-ee-type hitbot --right-ee-type suction_cup

Generate an individual component URDF directly from xacro:

xacro xacro/component.xacro type:=omni_chassis > omni_chassis.urdf
xacro xacro/component.xacro type:=omniwheel > omniwheel_10.urdf
xacro xacro/component.xacro type:=left_arm > left_arm.urdf
xacro xacro/component.xacro type:=wrist_camera arm_camera:=d405 > wrist_camera.urdf
xacro xacro/components/right_arm.xacro > right_arm.urdf
xacro xacro/components/omniwheel_10.xacro omniwheel_standalone:=true > omniwheel_10.urdf

Default URDF model	Hitbot + suction cup URDF model

MJCF

MJCF files are generated with urdf-to-mjcf. See docs/mjcf.md for the exact regeneration commands and variant notes.

MJCF base variants:

• mjcf/galbot_one_golf.xml: wheeled base, with wheel1_joint through wheel4_joint velocity actuators.
• mjcf/galbot_one_golf_fixed_base.xml: fixed base, with no base or wheel drive joints.
• mjcf/galbot_one_golf_planar_base.xml: virtual planar base, with base_x_joint, base_y_joint, and base_yaw_joint velocity actuators.
• mjcf/galbot_one_golf_floating_base.xml: MuJoCo freejoint base, with no base actuator.

MJCF visual model	MJCF collision-only model

USD

The main USD entry point is usd/galbot_one_golf.usda. It keeps the public composition small and payloads the larger robot layers from usd/configuration/:

• usd/configuration/galbot_one_golf_base.usdc: base robot hierarchy and core composition
• usd/configuration/galbot_one_golf_physics.usda: physics and PhysX data
• usd/configuration/galbot_one_golf_sensor.usda: sensor payloads
• usd/configuration/galbot_one_golf_robot.usda: robot integration payloads
• usd/envs/empty.usda: example scene that references the main asset

Only the base layer is stored as USDC; editable layers are kept as USDA.

Package Layout

• xacro/: source robot descriptions
• urdf/: preset and generated URDF files
• mjcf/: MuJoCo mjcf models
• usd/: USD models
• meshes/: visual and collision meshes
• launch/: display launch files
• config/: configuration files
• scripts/: helper scripts

LICENSE

This software is licensed under the Apache License 2.0. See LICENSE for details.