Ayg Robot Description (URDF)

For the USD description, see the usd branch.

Overview

This package contains Ayg's robot description (URDF) developed by Cyber-Fusion. It carries both Ayg model generations, 1.2 and 1.3, side by side, selected with the version xacro arg.

License

This software is released under a BSD-3-Clause license.

Layout

urdf/
  ayg.xacro                       # thin dispatcher + everything genuinely shared
  ayg1.2.xacro   ayg1.3.xacro     # per-version roots (Base, IMU; battery macro on 1.2 only)
  sim_ros2_control.xacro          # shared ros2_control/Gazebo block
  1.2/{legs,camera,initial_configuration}.xacro
  1.3/{legs,lidar,initial_configuration}.xacro
  ayg1.2.urdf   ayg1.3.urdf       # generated + committed flat URDFs
meshes/1.2/...  meshes/1.3/...
mujoco/1.2/ayg.xml   mujoco/1.3/ayg.xml
config/1.2/config.rviz   config/1.3/config.rviz

Ayg 1.2 and 1.3 share filenames for a few meshes (Base, L_Thigh, R_Thigh) whose content differs between versions, so each version keeps its own mesh directory rather than a shared one.

Usage

The .xacro file accepts the following arguments:

• version: {1.2, 1.3} (default: 1.2, mirroring ayg_utils.robot_version.DEFAULT in the Ayg repo). Selects the whole per-version subtree (root xacro, legs, meshes, mujoco/rviz configs).
• camera: Bool (default: True). If True, an Ayg 1.2 robot also has the RealSense D555 depth camera link. Harmless no-op on version:=1.3.
• lidar: Bool (default: True). If True, an Ayg 1.3 robot also has the lidar_link sensor frame (Ayg 1.3 replaced the D555 depth camera with a HESAI JT128). The head/mount itself is always present. Harmless no-op on version:=1.2.
• sim: Bool (default: False). If True, the URDF is augmented with Gazebo (not Gazebo Classic) tags for the robot's sensors and actuators.
• initial_configuration: {lying_down, standing} (default: lying_down). Sets the initial configuration of the robot in Gazebo (requires sim to be True). The joint values differ between 1.2 and 1.3 (different leg geometry).
• controller: {default, ddb} (default: default). Sets the controller to be used in Gazebo (requires sim to be True). These controllers are from the main repo.

The pure .urdf files are committed (urdf/ayg1.2.urdf, urdf/ayg1.3.urdf) and can be regenerated with:

ros2 run xacro xacro urdf/ayg.xacro version:=1.2 sim:=False > urdf/ayg1.2.urdf
ros2 run xacro xacro urdf/ayg.xacro version:=1.3 sim:=False > urdf/ayg1.3.urdf

These can be useful with certain libraries or tools (e.g. Pinocchio).

Launch Files

To visualize the robot model in RViz, run

ros2 launch ayg_description rviz.launch.py version:=1.2

This launch file starts the robot state publisher, the joint state publisher GUI, and RViz.