Galbot Robots

Galbot humanoid robot description packages. Each package contains xacro models, meshes, RViz, and controller configuration. URDF is generated at launch time by robot_common_launch from xacro/robot.xacro (no static urdf/ in the package).

These packages are licensed under Apache-2.0. Third-party model sources and upstream terms are listed in NOTICE and each package README.

Zero	One	One Charlie
G1 Foxtrot	G1 Golf	S1

Common Commands

Build

cd ~/ros2_ws
colcon build --packages-up-to <package> --symlink-install
source ~/ros2_ws/install/setup.bash

Visualize Full Robot

ros2 launch robot_common_launch manipulator.launch.py robot:=<robot>

Useful arguments:

• robot:=<robot> selects the robot, for example galbot_s1 or galbot_foxtrot.
• type:=none hides optional end effectors when the model supports it.
• type:=hitbot, type:=galbot_gripper, or type:=suction_cup selects the same end effector on both arms when available.
• Mixed arms: left_type:=<type> and right_type:=<type> override type per arm. Leave a side empty to use type on that arm.
• collider:=simple is the default on most models and uses simple primitive collision geometry. Some models also support convex_decomposition for convex-hull collision meshes.

Visualize Component

ros2 launch robot_common_launch component.launch.py robot:=<robot> type:=<component>

Common component values include chassis, body, head, arm, and gripper-specific entries such as left_gripper or right_gripper. The exact list is model-specific.

Run OCS2 Demos

The default hardware is mock_components.

ros2 launch robot_common_launch manipulator_ocs2.launch.py robot_name:=<robot>
ros2 launch ocs2_arm_controller full_body.launch.py robot:=<robot>
ros2 launch ocs2_arm_controller split_body.launch.py robot:=<robot>

manipulator_ocs2.launch.py is the official mobile manipulator demo. full_body.launch.py and split_body.launch.py are arm controller demos. Add hardware:=isaac for Isaac Sim where supported; otherwise the launch uses mock components. Navigation examples and model-specific OCS2 or gripper commands live in each package README.

Mixed end effectors on left and right arms (galbot_foxtrot, galbot_golf, galbot_one, galbot_charlie): pass left_type and right_type instead of a single symmetric type. Keys: galbot_gripper, hitbot, suction_cup, none.

Each arm gets a unified planning frame left_eef / right_eef (fixed joint on arm tip, gripper TCP, or suction TCP). OCS2 planning URDF uses eef_fixed_joints:=true automatically via robot_common_launch.

# OCS2 arm controller mock demo — left Hitbot + right suction cup
ros2 launch ocs2_arm_controller full_body.launch.py robot:=galbot_foxtrot \
  left_type:=hitbot right_type:=suction_cup

Optional: enable_suction_rotation:=true enables the suction-cup rotation joint in the visualization URDF only (no ros2_control interface).

Robot profile (YAML)

Per-machine defaults use a robot profile YAML. Copy config/profile/robot.local.yaml.example and pass:

ros2 launch ocs2_arm_controller full_body.launch.py robot:=galbot_foxtrot \
  robot_profile:=/path/to/robot.local.yaml

Launch CLI left_type / right_type override profile defaults.end_effectors. Asymmetric setups compose gripper controllers automatically; suction_cup is passive (no ros2_control joint).

# Profile EEF defaults + launch override
ros2 launch ocs2_arm_controller full_body.launch.py robot:=galbot_foxtrot \
  robot_profile:=/path/to/robot.local.yaml left_type:=galbot_gripper

Packages

Galbot/
├── galbot_zero_description/
├── galbot_one_description/
├── galbot_charlie_description/
├── galbot_foxtrot_description/
├── galbot_golf_description/
└── galbot_s1_description/