catalog build 2026-09-01T11:57:42+00:00 (part 20)

unitree/g1/g1/r1/manifest.json

@@ -0,0 +1,115 @@
+{
+ "schema_version": "0.1",
+ "id": "unitree/g1/g1/r1",
+ "kind": "model",
+ "category": "vehicle.legged",
+ "name": "G1",
+ "manufacturer": {
+  "name": "Unitree Robotics",
+  "country": "CN",
+  "product_url": "https://www.unitree.com/g1"
+ },
+ "lifecycle": "active",
+ "articulated": true,
+ "collision_mode": "merged",
+ "specs": {
+  "dof": 29,
+  "mass_kg": 35.0,
+  "locomotion": "biped",
+  "height_mm": 1320,
+  "footprint_mm": [
+   450,
+   400
+  ]
+ },
+ "frames": {
+  "base_frame": "base_footprint",
+  "grasp_frames": [
+   "left_rubber_hand",
+   "right_rubber_hand"
+  ],
+  "camera_frames": [],
+  "lidar_frames": []
+ },
+ "locomotion": {
+  "kind": "biped",
+  "body_frame": "pelvis",
+  "legs": [
+   {
+    "name": "L",
+    "foot": "left_ankle_roll_link",
+    "contact": "sole"
+   },
+   {
+    "name": "R",
+    "foot": "right_ankle_roll_link",
+    "contact": "sole"
+   }
+  ],
+  "stance": {
+   "left_hip_pitch_joint": -0.4,
+   "left_hip_roll_joint": 0.0,
+   "left_hip_yaw_joint": 0.0,
+   "left_knee_joint": 0.8,
+   "left_ankle_pitch_joint": -0.4,
+   "left_ankle_roll_joint": 0.0,
+   "right_hip_pitch_joint": -0.4,
+   "right_hip_roll_joint": 0.0,
+   "right_hip_yaw_joint": 0.0,
+   "right_knee_joint": 0.8,
+   "right_ankle_pitch_joint": -0.4,
+   "right_ankle_roll_joint": 0.0,
+   "left_shoulder_pitch_joint": 0.15,
+   "left_shoulder_roll_joint": 0.15,
+   "left_elbow_joint": 1.2,
+   "right_shoulder_pitch_joint": 0.15,
+   "right_shoulder_roll_joint": -0.15,
+   "right_elbow_joint": 1.2
+  },
+  "foot_radius_m": 0.035,
+  "gait": {
+   "pattern": "biped",
+   "period_s": 0.85,
+   "lift_m": 0.05,
+   "max_stride_m": 0.5,
+   "bob_m": 0.015,
+   "lateral_m": 0.02
+  },
+  "arm_swing": {
+   "left_shoulder_pitch_joint": -0.25,
+   "right_shoulder_pitch_joint": 0.25
+  }
+ },
+ "assets": {
+  "urdf": "urdf/model.urdf",
+  "usd": "usd/model.usdc",
+  "glb": "visual/model.glb",
+  "collision": "collision/",
+  "thumbnail": "previews/thumbnail.webp"
+ },
+ "sources": [
+  {
+   "kind": "official_oss",
+   "url": "https://github.com/unitreerobotics/unitree_ros",
+   "ref": "80b96438bcbc673379b5f35e767c40611f7e0af1",
+   "fetched_at": "2026-08-27"
+  }
+ ],
+ "licenses": [
+  {
+   "files": "sources/**",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true,
+   "note": "リポジトリ LICENSE (BSD-3-Clause, Unitree Robotics)"
+  }
+ ],
+ "distribution": "public",
+ "validation": {
+  "level": "V2",
+  "report": "validation/report.json"
+ },
+ "compatibility": {
+  "mounts": [],
+  "requires_adapter": []
+ }
+}

unitree/go2/go2/r1/manifest.json

@@ -0,0 +1,132 @@
+{
+ "schema_version": "0.1",
+ "id": "unitree/go2/go2/r1",
+ "kind": "model",
+ "category": "vehicle.legged",
+ "name": "Go2",
+ "manufacturer": {
+  "name": "Unitree Robotics",
+  "country": "CN",
+  "product_url": "https://www.unitree.com/go2"
+ },
+ "lifecycle": "active",
+ "articulated": true,
+ "collision_mode": "merged",
+ "specs": {
+  "dof": 12,
+  "payload_kg": 8.0,
+  "mass_kg": 15.0,
+  "locomotion": "quadruped",
+  "max_step_height_mm": 160.0,
+  "max_speed_mps": 2.5,
+  "footprint_mm": [
+   700,
+   310
+  ],
+  "height_mm": 400
+ },
+ "frames": {
+  "base_frame": "base_footprint",
+  "grasp_frames": [],
+  "camera_frames": [],
+  "lidar_frames": []
+ },
+ "locomotion": {
+  "kind": "quadruped",
+  "body_frame": "base",
+  "legs": [
+   {
+    "name": "FL",
+    "foot": "FL_foot",
+    "contact": "point"
+   },
+   {
+    "name": "FR",
+    "foot": "FR_foot",
+    "contact": "point"
+   },
+   {
+    "name": "RL",
+    "foot": "RL_foot",
+    "contact": "point"
+   },
+   {
+    "name": "RR",
+    "foot": "RR_foot",
+    "contact": "point"
+   }
+  ],
+  "stance": {
+   "FL_hip_joint": 0.0,
+   "FL_thigh_joint": 0.8,
+   "FL_calf_joint": -1.5,
+   "FR_hip_joint": 0.0,
+   "FR_thigh_joint": 0.8,
+   "FR_calf_joint": -1.5,
+   "RL_hip_joint": 0.0,
+   "RL_thigh_joint": 0.8,
+   "RL_calf_joint": -1.5,
+   "RR_hip_joint": 0.0,
+   "RR_thigh_joint": 0.8,
+   "RR_calf_joint": -1.5
+  },
+  "foot_radius_m": 0.022,
+  "gait": {
+   "pattern": "trot",
+   "period_s": 0.45,
+   "lift_m": 0.07,
+   "max_stride_m": 0.45,
+   "bob_m": 0.0,
+   "lateral_m": 0.0
+  },
+  "stairs": {
+   "stance": {
+    "FL_hip_joint": 0.0,
+    "FL_thigh_joint": 0.9436,
+    "FL_calf_joint": -1.8873,
+    "FR_hip_joint": 0.0,
+    "FR_thigh_joint": 0.9436,
+    "FR_calf_joint": -1.8873,
+    "RL_hip_joint": 0.0,
+    "RL_thigh_joint": 0.9436,
+    "RL_calf_joint": -1.8873,
+    "RR_hip_joint": 0.0,
+    "RR_thigh_joint": 0.9436,
+    "RR_calf_joint": -1.8873
+   },
+   "lift_m": 0.015
+  },
+  "arm_swing": {}
+ },
+ "assets": {
+  "urdf": "urdf/model.urdf",
+  "usd": "usd/model.usdc",
+  "glb": "visual/model.glb",
+  "thumbnail": "previews/thumbnail.webp"
+ },
+ "sources": [
+  {
+   "kind": "official_oss",
+   "url": "https://github.com/unitreerobotics/unitree_ros",
+   "ref": "80b96438bcbc673379b5f35e767c40611f7e0af1",
+   "fetched_at": "2026-08-27"
+  }
+ ],
+ "licenses": [
+  {
+   "files": "sources/**",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true,
+   "note": "リポジトリ LICENSE (BSD-3-Clause, Unitree Robotics)。メッシュ (dae) に別条項の 宣言は無い"
+  }
+ ],
+ "distribution": "public",
+ "validation": {
+  "level": "V2",
+  "report": "validation/report.json"
+ },
+ "compatibility": {
+  "mounts": [],
+  "requires_adapter": []
+ }
+}

universal_robots/ur/ur12e/r1/manifest.json

@@ -0,0 +1,91 @@
+{
+ "schema_version": "0.1",
+ "id": "universal_robots/ur/ur12e/r1",
+ "kind": "model",
+ "category": "manipulator",
+ "name": "UR12e",
+ "manufacturer": {
+  "name": "Universal Robots",
+  "country": "DK",
+  "product_url": "https://www.universal-robots.com/products/ur12e/"
+ },
+ "lifecycle": "active",
+ "articulated": true,
+ "collision_mode": "merged",
+ "specs": {
+  "dof": 6,
+  "payload_kg": 12.5,
+  "reach_mm": 1300.0,
+  "repeatability_mm": 0.05,
+  "mass_kg": 33.5,
+  "joint_limits_deg": [
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -180.0,
+    180.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ]
+  ],
+  "max_tcp_speed_mps": 4.0,
+  "ip_rating": "IP54"
+ },
+ "frames": {
+  "base_frame": "base_link",
+  "flange_frame": "tool0",
+  "flange_standard": "ISO 9409-1-50-4-M6",
+  "tcp_default": "tool0",
+  "grasp_frames": [],
+  "camera_frames": [],
+  "lidar_frames": []
+ },
+ "assets": {
+  "urdf": "urdf/model.urdf",
+  "usd": "usd/model.usdc",
+  "glb": "visual/model.glb",
+  "collision": "collision/",
+  "thumbnail": "previews/thumbnail.webp"
+ },
+ "sources": [
+  {
+   "kind": "community",
+   "url": "https://github.com/ros-industrial/universal_robot",
+   "ref": "39ad110d8f2e8f66856a201cca88aa7a7025e3eb",
+   "fetched_at": "2026-08-27"
+  }
+ ],
+ "licenses": [
+  {
+   "files": "sources/**",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true,
+   "note": "ur_description/LICENSE (BSD) + package.xml の <license>BSD</license>。 UR Graphical Documentation の個別 LICENSE.txt 参照は ur20/ur8long/ur15/ ur18/ur30 のメッシュのみで、取り込む ur10e メッシュは対象外 (ur5e r2 の S4 2026-08-10 と同根拠)"
+  }
+ ],
+ "distribution": "public",
+ "validation": {
+  "level": "V2",
+  "report": "validation/report.json"
+ },
+ "compatibility": {
+  "mounts": [],
+  "requires_adapter": []
+ }
+}

universal_robots/ur/ur15/r1/manifest.json

@@ -0,0 +1,110 @@
+{
+ "schema_version": "0.1",
+ "id": "universal_robots/ur/ur15/r1",
+ "kind": "model",
+ "category": "manipulator",
+ "name": "UR15",
+ "manufacturer": {
+  "name": "Universal Robots",
+  "country": "DK",
+  "product_url": "https://www.universal-robots.com/products/ur15/"
+ },
+ "lifecycle": "active",
+ "articulated": true,
+ "collision_mode": "merged",
+ "specs": {
+  "dof": 6,
+  "payload_kg": 15.0,
+  "reach_mm": 1300.0,
+  "repeatability_mm": 0.05,
+  "mass_kg": 40.7,
+  "joint_limits_deg": [
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -180.0,
+    180.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ]
+  ],
+  "max_tcp_speed_mps": 5.0,
+  "ip_rating": "IP65"
+ },
+ "frames": {
+  "base_frame": "world",
+  "flange_frame": "tool0",
+  "flange_standard": "ISO 9409-1-50-4-M6",
+  "tcp_default": "tool0",
+  "grasp_frames": [],
+  "camera_frames": [],
+  "lidar_frames": []
+ },
+ "assets": {
+  "urdf": "urdf/model.urdf",
+  "usd": "usd/model.usdc",
+  "glb": "visual/model.glb",
+  "collision": "collision/",
+  "thumbnail": "previews/thumbnail.webp"
+ },
+ "sources": [
+  {
+   "kind": "official_oss",
+   "url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description",
+   "ref": "89bbe795f38a7ab00fb66fe8831dfff79dc99edf",
+   "fetched_at": "2026-08-27"
+  }
+ ],
+ "licenses": [
+  {
+   "files": "sources/meshes/**",
+   "spdx": "LicenseRef-UR-Graphical-Documentation",
+   "redistributable": false
+  },
+  {
+   "files": "sources/**/*.xacro",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true
+  },
+  {
+   "files": "sources/config/**",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true
+  },
+  {
+   "files": "sources/package.xml",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true
+  },
+  {
+   "files": "sources/LICENSE",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true
+  }
+ ],
+ "distribution": "recipe_only",
+ "validation": {
+  "level": "V2",
+  "report": "validation/report.json"
+ },
+ "compatibility": {
+  "mounts": [],
+  "requires_adapter": []
+ }
+}

universal_robots/ur/ur16e/r1/manifest.json

@@ -0,0 +1,91 @@
+{
+ "schema_version": "0.1",
+ "id": "universal_robots/ur/ur16e/r1",
+ "kind": "model",
+ "category": "manipulator",
+ "name": "UR16e",
+ "manufacturer": {
+  "name": "Universal Robots",
+  "country": "DK",
+  "product_url": "https://www.universal-robots.com/products/ur16e/"
+ },
+ "lifecycle": "active",
+ "articulated": true,
+ "collision_mode": "merged",
+ "specs": {
+  "dof": 6,
+  "payload_kg": 16.0,
+  "reach_mm": 900.0,
+  "repeatability_mm": 0.05,
+  "mass_kg": 33.1,
+  "joint_limits_deg": [
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -180.0,
+    180.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ],
+   [
+    -360.0,
+    360.0
+   ]
+  ],
+  "max_tcp_speed_mps": 3.0,
+  "ip_rating": "IP54"
+ },
+ "frames": {
+  "base_frame": "base_link",
+  "flange_frame": "tool0",
+  "flange_standard": "ISO 9409-1-50-4-M6",
+  "tcp_default": "tool0",
+  "grasp_frames": [],
+  "camera_frames": [],
+  "lidar_frames": []
+ },
+ "assets": {
+  "urdf": "urdf/model.urdf",
+  "usd": "usd/model.usdc",
+  "glb": "visual/model.glb",
+  "collision": "collision/",
+  "thumbnail": "previews/thumbnail.webp"
+ },
+ "sources": [
+  {
+   "kind": "community",
+   "url": "https://github.com/ros-industrial/universal_robot",
+   "ref": "39ad110d8f2e8f66856a201cca88aa7a7025e3eb",
+   "fetched_at": "2026-08-27"
+  }
+ ],
+ "licenses": [
+  {
+   "files": "sources/**",
+   "spdx": "BSD-3-Clause",
+   "redistributable": true,
+   "note": "ur_description/LICENSE (BSD) + package.xml の <license>BSD</license>。 UR Graphical Documentation の個別 LICENSE.txt 参照は ur20/ur8long/ur15/ ur18/ur30 のメッシュのみで、取り込む ur16e/ur10e メッシュは対象外 (ur5e r2 の S4 2026-08-10 と同根拠)"
+  }
+ ],
+ "distribution": "public",
+ "validation": {
+  "level": "V2",
+  "report": "validation/report.json"
+ },
+ "compatibility": {
+  "mounts": [],
+  "requires_adapter": []
+ }
+}