Mobile Manipulators

Legged and wheeled platforms with integrated manipulation capabilities, including humanoid robots, registered in the Space Robotics Bench.

Overview

Combined Platforms

Generic Aerial Manipulator (`generic_aerial_manipulator`)


DoF	runtime-resolved
End Effector	None
Base Frame	–
Flange Frame	–
Sensors	0
Action Modes	–

Generic Ground Manipulator (`generic_ground_manipulator`)


DoF	runtime-resolved
End Effector	None
Base Frame	–
Flange Frame	–
Sensors	0
Action Modes	–

Generic Orbital Manipulator (`generic_orbital_manipulator`)


DoF	runtime-resolved
End Effector	None
Base Frame	–
Flange Frame	–
Sensors	0
Action Modes	–

Humanoids

Humanoid21 (`humanoid21`)

humanoid21


DoF	runtime-resolved
End Effector	None
Base Frame	`pelvis`
Flange Frame	–
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
body	`.*`	–	–	20	5

Sensors

Name	Type	Location
imu_robot	Imu	`pelvis`
contacts_feet	Contact Sensor	`(left\|right)_foot`
cam_front	Camera	`pelvis/camera_front`

Humanoid28 (`humanoid28`)

humanoid28


DoF	runtime-resolved
End Effector	None
Base Frame	`pelvis`
Flange Frame	–
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
body	`.*`	–	–	–	–

Sensors

Name	Type	Location
imu_robot	Imu	`pelvis`
contacts_feet	Contact Sensor	`(left\|right)_foot`
cam_front	Camera	`pelvis/camera_front`

Unitree G1 (`unitree_g1`)

unitree_g1


DoF	runtime-resolved
End Effector	None
Base Frame	`pelvis`
Flange Frame	–
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`._hip_yaw_joint`, `._hip_roll_joint`, `._hip_pitch_joint`, `._knee_joint`, `torso_joint`	300 N·m	100 rad/s	150	5
feet	`._ankle_pitch_joint`, `._ankle_roll_joint`	20 N·m	–	20	2
arms	`._shoulder_pitch_joint`, `._shoulder_roll_joint`, `._shoulder_yaw_joint`, `._elbow_pitch_joint`, `._elbow_roll_joint`, `._five_joint`, `._three_joint`, `._six_joint`, `._four_joint`, `._zero_joint`, `._one_joint`, `._two_joint`	300 N·m	100 rad/s	40	10

Sensors

Name	Type	Location
imu_robot	Imu	`pelvis`
contacts_feet	Contact Sensor	`(left\|right)_ankle_roll_link`
cam_front	Camera	`pelvis/camera_front`

Initial Joint Configuration

Joint	Position
left_shoulder_roll_joint	0.16 rad (9.167325 deg)
left_shoulder_pitch_joint	0.35 rad (20.053523 deg)
right_shoulder_roll_joint	-0.16 rad (-9.167325 deg)
right_shoulder_pitch_joint	0.35 rad (20.053523 deg)
left_one_joint	1 rad (57.29578 deg)
right_one_joint	-1 rad (-57.29578 deg)
left_two_joint	0.52 rad (29.793805 deg)
right_two_joint	-0.52 rad (-29.793805 deg)

The DoF and joint_pos action dimensions are runtime-resolved from the Unitree G1 USD articulation. The actuator configuration includes shoulder, elbow, ankle, and hand-like zero through six joint patterns.

Unitree H1 (`unitree_h1`)

unitree_h1


DoF	runtime-resolved
End Effector	None
Base Frame	`pelvis`
Flange Frame	–
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`._hip_yaw`, `._hip_roll`, `._hip_pitch`, `._knee`, `torso`	300 N·m	100 rad/s	150	5
feet	`.*_ankle`	100 N·m	100 rad/s	20	4
arms	`._shoulder_pitch`, `._shoulder_roll`, `._shoulder_yaw`, `._elbow`	300 N·m	100 rad/s	40	10

Sensors

Name	Type	Location
imu_robot	Imu	`pelvis`
contacts_feet	Contact Sensor	`(left\|right)_ankle_link`
cam_front	Camera	`pelvis/camera_front`

Initial Joint Configuration

Joint	Position
torso	0.0 rad

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Space Robotics Bench