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add g1 info

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matheecs 2024-10-30 18:18:24 +08:00
parent 2b45539ab7
commit cc56fb92d6
1 changed files with 11 additions and 11 deletions
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robots/g1_description/README.md
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@ -6,17 +6,17 @@ 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 |
| ----------------------------- | :------------: | :----------------------: | ------------- |
| `g1_23dof` | 1 | 14.5 | Beta |
| `g1_29dof` | 2 | 14.5 | Beta |
| `g1_29dof_with_hand` | 2 | 14.5 | Beta |
| `g1_29dof_lock_waist` | 3 | 14.5 | Beta |
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date |
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date |
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date |
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date |
| `g1_dual_arm` | 9 | null | Up-to-date |
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
| `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_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)