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Fix joint index errors of g1_23dof.xml && move imu of G1 robot to pelvis link

This commit is contained in:
yangning wu 2025-03-31 16:47:35 +08:00
parent 57fc6b6308
commit f40370e1ea
3 changed files with 61 additions and 3 deletions
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60
unitree_robots/g1/g1_23dof.xml
View File

@ -50,6 +50,7 @@
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<site name="imu" size="0.01" pos="0.0 0.0 0.0" />
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
diaginertia="0.010549 0.0093089 0.0079184" />
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
@ -201,7 +202,6 @@
group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
mesh="waist_support_link" />
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
@ -307,6 +307,36 @@
</body>
</body>
</body>
<body name="waist_roll" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="waist_roll_joint" />
</body>
<body name="waist_pitch" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="waist_pitch_joint" />
</body>
<body name="left_wrist_pitch" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="left_wrist_pitch_joint" />
</body>
<body name="left_wrist_yaw" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="left_wrist_yaw_joint" />
</body>
<body name="right_wrist_pitch" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="right_wrist_pitch_joint" />
</body>
<body name="right_wrist_yaw" pos="0 0 20">
<inertial pos="0.0 0.0 0.0" mass="1e-03"
diaginertia="1e-03 1e-03 1e-03" />
<joint name="right_wrist_yaw_joint" />
</body>
</worldbody>
<actuator>
@ -316,23 +346,33 @@
<motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
<motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
<motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
<motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
<motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
<motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
<motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
<motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
<motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
<motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
<motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
<motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
<motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
<motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
<motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
<motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
<motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
<motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
<motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
<motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
<motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
<motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
<motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
<motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
<motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
<motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
</actuator>
<sensor>
@ -349,16 +389,22 @@
<jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
<jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
<jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
<jointpos name="waist_roll_pos" joint="waist_roll_joint" />
<jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
<jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
<jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
<jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
<jointpos name="left_elbow_pos" joint="left_elbow_joint" />
<jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
<jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
<jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
<jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
<jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
<jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
<jointpos name="right_elbow_pos" joint="right_elbow_joint" />
<jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
<jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
<jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
<jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
<jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
@ -373,16 +419,22 @@
<jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
<jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
<jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
<jointvel name="waist_roll_vel" joint="waist_roll_joint" />
<jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
<jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
<jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
<jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
<jointvel name="left_elbow_vel" joint="left_elbow_joint" />
<jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
<jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
<jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
<jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
<jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
<jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
<jointvel name="right_elbow_vel" joint="right_elbow_joint" />
<jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
<jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
<jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
<jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
<jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
@ -397,16 +449,22 @@
<jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
<jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
<jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
<jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
<jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
<jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
<jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
<jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
<jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
<jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
<jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
<jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
<jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
<jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
<jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
<jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
<jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
<jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
<jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
<framequat name="imu_quat" objtype="site" objname="imu" />
<gyro name="imu_gyro" site="imu" />

2
unitree_robots/g1/g1_29dof.xml
View File

@ -61,6 +61,7 @@
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<site name="imu" size="0.01" pos="0.0 0.0 0.0" />
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
diaginertia="0.010549 0.0093089 0.0079184" />
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
@ -224,7 +225,6 @@
group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
mesh="waist_support_link" />
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"

2
unitree_robots/g1/g1_29dof_with_hand.xml
View File

@ -76,6 +76,7 @@
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
diaginertia="0.010549 0.0093089 0.0079184" />
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
@ -239,7 +240,6 @@
group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
mesh="waist_support_link" />
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"