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update g1 doc

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matheecs 2025-03-12 15:31:44 +08:00
parent 751aa01419
commit 6727244709
1 changed files with 14 additions and 12 deletions
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robots/g1_description/README.md
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@ -6,18 +6,20 @@ This package includes a universal humanoid robot description (URDF & MJCF) for t
MJCF/URDF for the G1 robot:
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
| --------------------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
| `g1_29dof_lock_waist_with_hand_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 7*2 |
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
| `g1_23dof` | 1 | 14.5 | Deprecated | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof` | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand` | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_lock_waist` | 3 | 14.5 | Deprecated | 6*2 | 1 | 7*2 | 0 |
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
|------------------------------------------|:--------------:|:------------------------:|---------------|:-------:|:---------:|:-------:|:--------:|
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_rev_1_0_with_inspire_hand_DFQ` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
| `g1_29dof_rev_1_0_with_inspire_hand_FTP` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
| `g1_29dof_lock_waist_with_hand_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 7*2 |
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
| ~~`g1_23dof`~~ | 1 | 14.5 | Deprecated | 6*2 | 1 | 5*2 | 0 |
| ~~`g1_29dof`~~ | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 0 |
| ~~`g1_29dof_with_hand`~~ | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 7*2 |
| ~~`g1_29dof_lock_waist`~~ | 3 | 14.5 | Deprecated | 6*2 | 1 | 7*2 | 0 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)