This is a collection of the files produced for the Robotics Lab of INRIA Paris, mainly used by the WILLOW team. An overview of the robots is available HERE
We also put references files that we use to 3D model parts on unitree robots. These files arecleaned up parts of the robots with references for screw placement since the models given by unitree are whole body and lack detailling of the screw holes.
All files are given in freecad format (FCStd) or in mesh format (STL)
Tip
Github has a built in stl viewer : click on "[PREVIEW]" for a 3D preview of the piece.
ball.FCStd: ball end effector, mainly used for contact and force control experiments
[PREVIEW]
support_orbec_hub.FCStd : support to screw the Orbec hub to a vention profile
g1_velcrostraps_backpack.FCStd : back attachement with multiple velcro attachement points to attach extensions (Wifi router, emergency stop) [PREVIEW] TODO picture
go2_replacement_rail_velcro.FCStd : replacement of the aluminium rail bars used on the Unitree Nvidia Jetson backback with velcro slits
[PREVIEW]
go2_tether.FCStd : Link between the builtin leash and a carabiner
[PREVIEW]
go2_realsense_mount.FCStd : Head mount for a realsense D431 camera
[PREVIEW]
vention_cable_holder.FCStd : clip for holding a roll of cable to a vention profile
[PREVIEW]
This is a collection of cleaned up 3D meshes of robots that are used to model 3D objects.
g1_torso_scale1_1.stl : torso of the unitree G1
[PREVIEW]
g1_torso_scale1.001:1.stl : torso of the unitree G1 scaled up by 1.001 to have a few millimeters of tolerance when doing a bolean difference with an attachement .
[PREVIEW]
go2_body_clean.stl: main body with the head of the Go2
[PREVIEW]
go2_body_scaled_1.001:1.stl: main body with the head of the Go2, scaled up by 1.001 to have a few millimeters of tolerance when doing a bolean difference with an attachement.
[PREVIEW]
go2_headscrew_placement.FCStd: CAD files with the placement of the head screws to be used as a base
[PREVIEW]