Merge pull request #128 from kevinzakka:update-g1

PiperOrigin-RevId: 704898014 Change-Id: Ia1c66b7d9c0646314ec1ba0db8b134416dbb8846
google-deepmind · Dec 11, 2024 · 4698932 · 4698932
2 parents 483d231 + 7be6785
commit 4698932
Show file tree

Hide file tree

Showing 79 changed files with 819 additions and 345 deletions.
diff --git a/unitree_g1/README.md b/unitree_g1/README.md
@@ -3,26 +3,33 @@
 > [!IMPORTANT]
 > Requires MuJoCo 2.3.4 or later.
 
+## Changelog
+
+- 10/12/2024: Use updated models from Unitree's official [repo](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description) (sha: c20ca8f1fe5e519474c6c8d10b1ce5c719dd7a65).
+  - Model without hands: [g1_29dof_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml)
+  - Model with hands: [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml)
+- 20/05/2024: Initial release.
+
 ## Overview
 
 This package contains a simplified robot description (MJCF) of the [G1 Humanoid
 Robot](https://www.unitree.com/g1/) developed by [Unitree
 Robotics](https://www.unitree.com/). It is derived from the [publicly available
 MJCF
-description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description).
+description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml). Specifically, this model has the fully actuated waist but not the full hands.
 
 <p float="left">
   <img src="g1.png" width="400">
+  <img src="g1_with_hands.png" width="400">
 </p>
 
 ## MJCF derivation steps
 
-1. Copied the MJCF description from [g1_description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description).
+1. Copied the MJCF description from [g1_description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml).
 2. Manually edited the MJCF to extract common properties into the `<default>` section.
-3. Added sites for the IMU, head and feet.
-4. Add IMU sensor (gyro, accelero, framequat).
-5. Added stand keyframe.
-6. Added spotlight and tracking light.
+3. Added stand keyframe.
+4. Added joint position actuators (needs tuning).
+5. Applied similar edits to `g1_with_hands.xml`.
 
 ## License
 

diff --git a/unitree_g1/assets/head_link.STL b/unitree_g1/assets/head_link.STL
diff --git a/unitree_g1/assets/left_ankle_pitch_link.STL b/unitree_g1/assets/left_ankle_pitch_link.STL
diff --git a/unitree_g1/assets/left_ankle_roll_link.STL b/unitree_g1/assets/left_ankle_roll_link.STL
diff --git a/unitree_g1/assets/left_elbow_link.STL b/unitree_g1/assets/left_elbow_link.STL
diff --git a/unitree_g1/assets/left_elbow_pitch_link.STL b/unitree_g1/assets/left_elbow_pitch_link.STL
diff --git a/unitree_g1/assets/left_elbow_roll_link.STL b/unitree_g1/assets/left_elbow_roll_link.STL
diff --git a/unitree_g1/assets/left_five_link.STL b/unitree_g1/assets/left_five_link.STL
diff --git a/unitree_g1/assets/left_four_link.STL b/unitree_g1/assets/left_four_link.STL
diff --git a/unitree_g1/assets/left_hand_index_0_link.STL b/unitree_g1/assets/left_hand_index_0_link.STL
diff --git a/unitree_g1/assets/left_hand_index_1_link.STL b/unitree_g1/assets/left_hand_index_1_link.STL
diff --git a/unitree_g1/assets/left_hand_middle_0_link.STL b/unitree_g1/assets/left_hand_middle_0_link.STL
diff --git a/unitree_g1/assets/left_hand_middle_1_link.STL b/unitree_g1/assets/left_hand_middle_1_link.STL
diff --git a/unitree_g1/assets/left_hand_palm_link.STL b/unitree_g1/assets/left_hand_palm_link.STL
diff --git a/unitree_g1/assets/left_hand_thumb_0_link.STL b/unitree_g1/assets/left_hand_thumb_0_link.STL
diff --git a/unitree_g1/assets/left_hand_thumb_1_link.STL b/unitree_g1/assets/left_hand_thumb_1_link.STL
diff --git a/unitree_g1/assets/left_hand_thumb_2_link.STL b/unitree_g1/assets/left_hand_thumb_2_link.STL
diff --git a/unitree_g1/assets/left_hip_pitch_link.STL b/unitree_g1/assets/left_hip_pitch_link.STL
diff --git a/unitree_g1/assets/left_hip_roll_link.STL b/unitree_g1/assets/left_hip_roll_link.STL
diff --git a/unitree_g1/assets/left_hip_yaw_link.STL b/unitree_g1/assets/left_hip_yaw_link.STL
diff --git a/unitree_g1/assets/left_knee_link.STL b/unitree_g1/assets/left_knee_link.STL
diff --git a/unitree_g1/assets/left_one_link.STL b/unitree_g1/assets/left_one_link.STL
diff --git a/unitree_g1/assets/left_palm_link.STL b/unitree_g1/assets/left_palm_link.STL
diff --git a/unitree_g1/assets/left_rubber_hand.STL b/unitree_g1/assets/left_rubber_hand.STL
diff --git a/unitree_g1/assets/left_shoulder_pitch_link.STL b/unitree_g1/assets/left_shoulder_pitch_link.STL
diff --git a/unitree_g1/assets/left_shoulder_roll_link.STL b/unitree_g1/assets/left_shoulder_roll_link.STL
diff --git a/unitree_g1/assets/left_shoulder_yaw_link.STL b/unitree_g1/assets/left_shoulder_yaw_link.STL
diff --git a/unitree_g1/assets/left_six_link.STL b/unitree_g1/assets/left_six_link.STL
diff --git a/unitree_g1/assets/left_three_link.STL b/unitree_g1/assets/left_three_link.STL
diff --git a/unitree_g1/assets/left_two_link.STL b/unitree_g1/assets/left_two_link.STL
diff --git a/unitree_g1/assets/left_wrist_pitch_link.STL b/unitree_g1/assets/left_wrist_pitch_link.STL
diff --git a/unitree_g1/assets/left_wrist_roll_link.STL b/unitree_g1/assets/left_wrist_roll_link.STL
diff --git a/unitree_g1/assets/left_wrist_yaw_link.STL b/unitree_g1/assets/left_wrist_yaw_link.STL
diff --git a/unitree_g1/assets/left_zero_link.STL b/unitree_g1/assets/left_zero_link.STL
diff --git a/unitree_g1/assets/logo_link.STL b/unitree_g1/assets/logo_link.STL
diff --git a/unitree_g1/assets/pelvis.STL b/unitree_g1/assets/pelvis.STL
diff --git a/unitree_g1/assets/pelvis_contour_link.STL b/unitree_g1/assets/pelvis_contour_link.STL
diff --git a/unitree_g1/assets/right_ankle_pitch_link.STL b/unitree_g1/assets/right_ankle_pitch_link.STL
diff --git a/unitree_g1/assets/right_ankle_roll_link.STL b/unitree_g1/assets/right_ankle_roll_link.STL
diff --git a/unitree_g1/assets/right_elbow_link.STL b/unitree_g1/assets/right_elbow_link.STL
diff --git a/unitree_g1/assets/right_elbow_pitch_link.STL b/unitree_g1/assets/right_elbow_pitch_link.STL
diff --git a/unitree_g1/assets/right_elbow_roll_link.STL b/unitree_g1/assets/right_elbow_roll_link.STL
diff --git a/unitree_g1/assets/right_five_link.STL b/unitree_g1/assets/right_five_link.STL
diff --git a/unitree_g1/assets/right_four_link.STL b/unitree_g1/assets/right_four_link.STL
diff --git a/unitree_g1/assets/right_hand_index_0_link.STL b/unitree_g1/assets/right_hand_index_0_link.STL
diff --git a/unitree_g1/assets/right_hand_index_1_link.STL b/unitree_g1/assets/right_hand_index_1_link.STL
diff --git a/unitree_g1/assets/right_hand_middle_0_link.STL b/unitree_g1/assets/right_hand_middle_0_link.STL
diff --git a/unitree_g1/assets/right_hand_middle_1_link.STL b/unitree_g1/assets/right_hand_middle_1_link.STL
diff --git a/unitree_g1/assets/right_hand_palm_link.STL b/unitree_g1/assets/right_hand_palm_link.STL
diff --git a/unitree_g1/assets/right_hand_thumb_0_link.STL b/unitree_g1/assets/right_hand_thumb_0_link.STL
diff --git a/unitree_g1/assets/right_hand_thumb_1_link.STL b/unitree_g1/assets/right_hand_thumb_1_link.STL
diff --git a/unitree_g1/assets/right_hand_thumb_2_link.STL b/unitree_g1/assets/right_hand_thumb_2_link.STL
diff --git a/unitree_g1/assets/right_hip_pitch_link.STL b/unitree_g1/assets/right_hip_pitch_link.STL
diff --git a/unitree_g1/assets/right_hip_roll_link.STL b/unitree_g1/assets/right_hip_roll_link.STL
diff --git a/unitree_g1/assets/right_hip_yaw_link.STL b/unitree_g1/assets/right_hip_yaw_link.STL
diff --git a/unitree_g1/assets/right_knee_link.STL b/unitree_g1/assets/right_knee_link.STL
diff --git a/unitree_g1/assets/right_one_link.STL b/unitree_g1/assets/right_one_link.STL
diff --git a/unitree_g1/assets/right_palm_link.STL b/unitree_g1/assets/right_palm_link.STL
diff --git a/unitree_g1/assets/right_rubber_hand.STL b/unitree_g1/assets/right_rubber_hand.STL
diff --git a/unitree_g1/assets/right_shoulder_pitch_link.STL b/unitree_g1/assets/right_shoulder_pitch_link.STL
diff --git a/unitree_g1/assets/right_shoulder_roll_link.STL b/unitree_g1/assets/right_shoulder_roll_link.STL
diff --git a/unitree_g1/assets/right_shoulder_yaw_link.STL b/unitree_g1/assets/right_shoulder_yaw_link.STL
diff --git a/unitree_g1/assets/right_six_link.STL b/unitree_g1/assets/right_six_link.STL
diff --git a/unitree_g1/assets/right_three_link.STL b/unitree_g1/assets/right_three_link.STL
diff --git a/unitree_g1/assets/right_two_link.STL b/unitree_g1/assets/right_two_link.STL
diff --git a/unitree_g1/assets/right_wrist_pitch_link.STL b/unitree_g1/assets/right_wrist_pitch_link.STL
diff --git a/unitree_g1/assets/right_wrist_roll_link.STL b/unitree_g1/assets/right_wrist_roll_link.STL
diff --git a/unitree_g1/assets/right_wrist_yaw_link.STL b/unitree_g1/assets/right_wrist_yaw_link.STL
diff --git a/unitree_g1/assets/right_zero_link.STL b/unitree_g1/assets/right_zero_link.STL
diff --git a/unitree_g1/assets/torso_link.STL b/unitree_g1/assets/torso_link.STL
diff --git a/unitree_g1/assets/torso_link_rev_1_0.STL b/unitree_g1/assets/torso_link_rev_1_0.STL
diff --git a/unitree_g1/assets/waist_roll_link_rev_1_0.STL b/unitree_g1/assets/waist_roll_link_rev_1_0.STL
diff --git a/unitree_g1/assets/waist_yaw_link_rev_1_0.STL b/unitree_g1/assets/waist_yaw_link_rev_1_0.STL
diff --git a/unitree_g1/g1.png b/unitree_g1/g1.png
diff --git a/unitree_g1/g1.xml b/unitree_g1/g1.xml
diff --git a/unitree_g1/g1_with_hands.png b/unitree_g1/g1_with_hands.png
diff --git a/unitree_g1/g1_with_hands.xml b/unitree_g1/g1_with_hands.xml
diff --git a/unitree_g1/scene.xml b/unitree_g1/scene.xml
@@ -1,7 +1,7 @@
-<mujoco model="g1 scene">
+<mujoco model="g1_29dof_rev_1_0 scene">
   <include file="g1.xml"/>
 
-  <statistic center="1 -0.8 1.1" extent=".3"/>
+  <statistic center="1 -0.8 1.1" extent=".35"/>
 
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>

diff --git a/unitree_g1/scene_with_hands.xml b/unitree_g1/scene_with_hands.xml
@@ -0,0 +1,22 @@
+<mujoco model="g1_29dof_with_hand_rev_1_0 scene">
+  <include file="g1_with_hands.xml"/>
+
+  <statistic center="1 -0.8 1.1" extent=".35"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>