Wiki-GRx-Models

Welcome to the GRx Robot Model Repository! This repository provides the Unified Robot Description Format (URDF) files for the GRx robot, enabling enthusiasts and developers to explore, modify, and extend the capabilities of this robotic platform.

Overview

The Fourier Intelligence GRx series robot is a versatile and robust platform designed for a wide range of applications, including research, education, and industrial automation. This repository contains the necessary URDF files and associated resources to simulate and develop with the GRx robot using popular robotics software tools.

Features

• URDF Files: Complete set of URDF files describing the GRx robots' kinematic and dynamic properties.
• Visual Models: High-quality 3D models for visualization in simulation environments.
• Collision Models: Optimized collision models for efficient simulation.
• Issac Gym: Support for NVIDIA Isaac Gym for reinforcement learning and robotics research.
• Isaac Sim: Support for NVIDIA Isaac Sim for high-fidelity simulation.

Name table of robot for clarify

Notice: There are two types of dexterous hand, fourier hand and inspire hand. Select the correct urdf with the hand you have.

Product Name	Code Name
GR-1	GR1T1 with dexterous hand
GR-1L	GR1T1 with fourier jaw
GR-1 Pro	GR1T2 with dexterous hand
GR-1L Pro	GR1T2 with fourier jaw

Model List

GRx Robots

• GR1:

  • GR1T1
    • GR1T1: The urdf for GR1T1 without hand.
    • GR1T1_jaw: The urdf for GR1T1 with foueire jaw.
    • GR1T1_fourier_hand: The urdf for GR1T1 with fourier hand.
    • GR1T1_inspire_hand: The urdf for GR1T1 with inspire hand.
  • GR1T2
    • GR1T2: The urdf for GR1T2 without hand.
    • GR1T2_jaw: The urdf for GR1T2 with fourier jaw.
    • GR1T2_fourier_hand: The urdf for GR1T2 with fourier hand.
    • GR1T2_inspire_hand: The urdf for GR1T2 with inspire hand.

• GR2:

  • GR2_foot
    • GR2_foot: GR2 urdf with a fake hand.
    • GR2_foot_fourier_hand_6dof: GR2 urdf with fourier hand with 6DOF.

Model Verification

To verify the model, you can use the urdf-viz tool to visualize the robot in 3D.

• https://github.com/openrr/urdf-viz

Install with Cargo

sudo apt-get install cmake xorg-dev libglu1-mesa-dev
sudo apt install cargo
cargo install urdf-viz

Display the Model

# Display the GR1T1 model with fourier hand
cd ./GRX/GR1/GR1T1/URDF/urdf
urdf-viz GR1T1_fourier_hand.urdf

# Display the GR1T2 model with fourier hand
cd ./GRX/GR1/GR1T2/URDF/urdf
urdf-viz GR1T2_fourier_hand.urdf

MJCF Conversion

If you are interested in converting the URDF files to MuJoCo MJCF format, you can refer to the following repository:

• Wiki-MJCF in Github
• Wiki-MJCF in Gitee

---

Thank you for your interest in the Fourier Intelligence GRx Robot Repositories. We hope you find this resource helpful in your robotics projects!