R1D is a wheeled mobile-manipulator configuration built around Unitree’s R1 upper body — the same dual-arm, waist, and head mechanism as the bipedal R1, mounted instead on a differential-drive wheeled base with a two-stage lift column and four passive caster wheels for stability, rather than legs.
The mechanism
Two driven wheels provide differential-drive locomotion, and a two-stage prismatic lift column raises and lowers the whole upper body. From there: a one-axis waist (yaw), a two-axis head (yaw, pitch), and seven actuated joints per arm (shoulder pitch, roll, and yaw; elbow; wrist roll, pitch, and yaw) — 2 (wheels) + 2 (lift) + 1 (waist) + 2 (head) + 14 (arms) = twenty-one actuated degrees of freedom. Four passive caster wheels (yaw + roll each) round out the base for stability — present in the description for visual/collision completeness, but never independently driven, the same way a shopping cart’s front casters aren’t.
About this file — read before importing
This links directly to
unitree_ros’s r1d_description package,
Unitree’s own repository. ARMOR links directly to that repository rather than re-hosting
anything, so what you get is exactly what Unitree publishes, unmodified.