From f40370e1ea64b1464018a66dee576d1a55fabc73 Mon Sep 17 00:00:00 2001 From: yangning wu Date: Mon, 31 Mar 2025 16:47:35 +0800 Subject: [PATCH] Fix joint index errors of g1_23dof.xml && move imu of G1 robot to pelvis link --- unitree_robots/g1/g1_23dof.xml | 60 +++++++++++++++++++++++- unitree_robots/g1/g1_29dof.xml | 2 +- unitree_robots/g1/g1_29dof_with_hand.xml | 2 +- 3 files changed, 61 insertions(+), 3 deletions(-) diff --git a/unitree_robots/g1/g1_23dof.xml b/unitree_robots/g1/g1_23dof.xml index 511ef21..1c9526e 100644 --- a/unitree_robots/g1/g1_23dof.xml +++ b/unitree_robots/g1/g1_23dof.xml @@ -50,6 +50,7 @@ + @@ -201,7 +202,6 @@ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" /> - + + + + + + + + + + + + + + + + + + + + + + + + @@ -316,23 +346,33 @@ + + + + + + + + + + @@ -349,16 +389,22 @@ + + + + + + @@ -373,16 +419,22 @@ + + + + + + @@ -397,16 +449,22 @@ + + + + + + diff --git a/unitree_robots/g1/g1_29dof.xml b/unitree_robots/g1/g1_29dof.xml index c2f5760..0707bb3 100644 --- a/unitree_robots/g1/g1_29dof.xml +++ b/unitree_robots/g1/g1_29dof.xml @@ -61,6 +61,7 @@ + @@ -224,7 +225,6 @@ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" /> - + @@ -239,7 +240,6 @@ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" /> -