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[ros2][g1] Support spawning G1 models in rviz #148

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[ros2][g1] Support spawning G1 models in rviz #148

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90d7e4c
amentize g1_description
mqcmd196 Apr 1, 2026
69ae46e
fix urdf path and add launch for visualizing g1 models
mqcmd196 Apr 1, 2026
7518fdd
fix license
mqcmd196 Apr 1, 2026
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45 changes: 45 additions & 0 deletions robots/g1_description/CMakeLists.txt
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Original file line number Diff line number Diff line change
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cmake_minimum_required(VERSION 3.10.2)
project(g1_description)

find_package(ament_cmake REQUIRED)

install(DIRECTORY meshes inspire_hand images launch
DESTINATION share/${PROJECT_NAME}
)

install(FILES
g1_23dof.urdf
g1_23dof.xml
g1_23dof_mode_10.urdf
g1_23dof_rev_1_0.urdf
g1_23dof_rev_1_0.xml
g1_29dof.urdf
g1_29dof.xml
g1_29dof_lock_waist.urdf
g1_29dof_lock_waist.xml
g1_29dof_lock_waist_rev_1_0.urdf
g1_29dof_lock_waist_rev_1_0.xml
g1_29dof_lock_waist_with_hand_rev_1_0.urdf
g1_29dof_lock_waist_with_hand_rev_1_0.xml
g1_29dof_mode_11.urdf
g1_29dof_mode_12.urdf
g1_29dof_mode_13.urdf
g1_29dof_mode_14.urdf
g1_29dof_mode_15.urdf
g1_29dof_mode_15_with_dex1_1.urdf
g1_29dof_mode_16.urdf
g1_29dof_rev_1_0.urdf
g1_29dof_rev_1_0.xml
g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
g1_29dof_with_hand.urdf
g1_29dof_with_hand.xml
g1_29dof_with_hand_rev_1_0.urdf
g1_29dof_with_hand_rev_1_0.xml
g1_comp.urdf
g1_dual_arm.urdf
g1_dual_arm.xml
DESTINATION share/${PROJECT_NAME}
)

ament_package()
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