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Add OneRobotics A1 asset and Isaac Teleop example

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@WangXuechun-woan がすでに取り組んでいます。

2026年10月20日 から。

  • #1292 @WangXuechun-woan による — オープン

評価

難易度
5/5
見積もり時間
1週間以上
初心者へのやさしさ
35/100
issue の種類
機能追加
明瞭さ
おおむね明確
活発さ
活発
技術スタック
python
領域
embedded-iot, robotics

調査の方向性

Read the existing Teleop examples and asset packaging setup to find the expected location and installation pattern. Then review the Isaac Teleop retargeting pipeline and MuJoCo demo entry points before integrating the A1 assets and seven-joint mapping. Done means the right-arm demo runs, live mode consumes joint states, asset provenance and checksums are included, and maintainers resolve the listed scope questions.

索引モデルが issue の本文から書いたものです。

説明

Summary

We would like to add OneRobotics A1 assets and a joint-space Isaac Teleop
example to Isaac Capture.

The initial integration targets the OneRobotics A1 7-DoF right arm and provides:

  • URDF and MJCF assets
  • STL meshes
  • License and provenance records
  • SHA256 asset manifest
  • Isaac Teleop joint-state mapping
  • A runnable MuJoCo demonstration example

Motivation

The A1 asset is needed for validating joint-space teleoperation and simulation
integration with a 7-DoF OneRobotics arm.

The proposed example uses the existing Isaac Teleop retargeting pipeline:

JointStateSource -> JointStateRetargeter -> OutputCombiner("action")

Proposed Scope

  • Add the OneRobotics A1 asset package under the Teleop examples.
  • Add a right-arm joint-space mapping for the seven A1 joints.
  • Add a MuJoCo demo that exercises the packaged right-arm MJCF.
  • Add a live mode that consumes A1 joint states from a DeviceIO source.
  • Install the asset package with the Teleop examples.
  • Preserve asset license, attribution, and provenance information.

Joint Mapping

The right-arm joint order is:

  1. joint1-a1_r
  2. joint2-a1_r
  3. joint3-a1_r
  4. joint4-a1_r
  5. joint5-a1_r
  6. joint6-a1_r
  7. joint7-a1_r

The proposed collection id is:

onerobotics_a1_right

Asset Provenance

  • Source repository: https://github.com/katazen/onerobot_h1
  • Source revision: ecf530911284ba0e559f7a24dc222fd8e60d31ed
  • Asset license: CC BY 4.0
  • Attribution: OneRobotics A1 robot assets © 2026 OneRobotics

The package includes the license text, third-party notices, and SHA256
verification manifest.

Validation

The following validations have been completed locally:

  • A1 right-arm MJCF compiles successfully in MuJoCo.
  • The model contains seven joints.
  • MJCF joint names match the Isaac Teleop mapping.
  • A1_2026 SHA256 manifest passes.
  • STL files are managed with Git LFS.
  • Ruff, REUSE, Git LFS, and documentation checks pass.

Open Questions

  1. Is examples/teleop/assets/ an acceptable location for this asset?
  2. Should the A1 assets be moved to a separate asset repository?
  3. Should the live example remain a generic JointState consumer, or should an
    A1-specific DeviceIO plugin also be added?
  4. Is the included MuJoCo MJCF acceptable for the initial integration?
  5. Should the example target only the right arm, or also expose the bimanual
    A1 configuration?

Checklist

  • Asset provenance documented
  • License documented
  • SHA256 manifest included
  • MJCF load validation completed
  • Isaac Teleop joint mapping implemented
  • Runnable demo added
  • Maintainer feedback received
  • Final PR opened
主要言語
Python
スター
412
フォーク
97
平均マージ
2日 3時間
マージ済み PR（30日）
141

環境構築

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  3. リポジトリをフォークし、ブランチを切って変更します。
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