Hiwonder AiNex — robot assets

Source-of-truth assets for the Hiwonder AiNex humanoid (URDF + meshes + MJCF). Used by packages/robot/ simulation/training and by plugins/plugin-ainex/ runtime.

Layout

hiwonder-ainex/
  urdf/          xacro source for the URDF (5 files)
  meshes/        25 binary STL link meshes (~5.5 MB)
  mjcf/          5 MuJoCo XML scenes (ainex, ainex_mjx, ainex_primitives*, ainex_grasp_scene)
  LICENSE_NOTICE.md
  README.md

Source

Ported from /media/shaw/Extreme SSD/hyperscape-robot-workspace/ainex-robot-code/:

Target subdir	SSD source
`urdf/`	`ros_ws_src/ainex_simulations/ainex_description/urdf/*.xacro`
`meshes/`	`ros_ws_src/ainex_simulations/ainex_description/meshes/*.STL`
`mjcf/`	`training/mujoco/{ainex,ainex_mjx,ainex_primitives,ainex_primitives_realistic,ainex_grasp_scene}.xml`

Modifications from upstream

URDF: rewrote 50 package://ainex_description/meshes/<name>.STL references in urdf/ainex.urdf.xacro to ../meshes/<name>.STL so the assets resolve outside of a ROS catkin workspace.
URDF: rewrote 4 $(find ainex_description)/urdf/<file>.xacro xacro includes in urdf/ainex.xacro and urdf/ainex.urdf.xacro to bare relative includes (<file>.xacro). xacro's include resolver handles the include relative to the including file.
MJCF: rewrote meshdir="../../ros_ws_src/ainex_simulations/ainex_description/meshes/" in mjcf/ainex.xml and mjcf/ainex_mjx.xml to meshdir="../meshes/". The *_primitives*.xml and *_grasp_scene.xml MJCFs are pure shape primitives and do not reference STL meshes.

The xacro files (*.xacro) are kept as source; the flattened *.urdf is not committed because it is an auto-generated build artifact. To regenerate the flattened URDF:

bash

xacro urdf/ainex.urdf.xacro -o /tmp/ainex.urdf

Build step (xacro → URDF)

Outside of ROS, install xacro from PyPI:

bash

pip install xacro
xacro packages/robot/assets/profiles/hiwonder-ainex/urdf/ainex.urdf.xacro \
  -o packages/robot/assets/profiles/hiwonder-ainex/urdf/ainex.urdf

If the catkin-only gazebo.xacro block fails (it references the libgazebo_ros_control plugin), use ainex.urdf.xacro directly instead of the wrapper ainex.xacro — gazebo.xacro is only needed for Gazebo simulation, not for kinematics/MuJoCo work.

Calibration files NOT included

Per-robot calibration data (ros_ws_src/ainex_calibration/config/imu_calib.yaml, mag_calib.yaml, and anything under calibration_data/) is intentionally excluded. Those files contain device-specific fitted matrices and are gitignored at the package level. Each physical robot must be calibrated locally.

License

See LICENSE_NOTICE.md. Upstream package.xml declares BSD.