feat: add Unitree G1 demo script and robot description #356
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Tigul
requested changes
Nov 10, 2025
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Are these images used somewhere?
| obj.set_pose(PoseStamped.from_list([x, y, z], [0, 0, 0, 1])) | ||
| pause(wait) | ||
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| def pick_and_place(robot, obj, pick_base, place_base, final_xyz, wrist_link): |
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There is a designator that does exactly that please try to stick to the designators.
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Please don't add these robot specific files directly
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Don't add the robot meshes instead link to the ROS package that contains these
| left_gripper = EndEffectorDescription( | ||
| "left_gripper", | ||
| "left_wrist_roll_rubber_hand", # palm | ||
| "left_wrist_roll_rubber_hand", # tool frame (temporary TCP) |
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These shouldn't be the same
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Summary
This PR introduces a new example showcasing the integration of the Unitree G1 humanoid robot with PyCRAM.
It adds the necessary robot description and a minimal pick-and-place demo in the BulletWorld simulation environment.
Added / Modified Files
demos/pycram_bullet_world_demo/g1_demo.py
resources/robots/g1/g1.urdf
robot_descriptions/g1_description.py
Usage
The demo runs identically to the existing PyCRAM examples.
1. Install PyCRAM (from the main README)
Follow the official installation guide:
👉 https://pycram.readthedocs.io/en/latest/installation.html
2. Activate the virtual environment
3. Run the Unitree G1 Demo
cd src/pycram/demos/pycram_bullet_world_demo python g1_demo.py