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0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/0.txt @@ -0,0 +1 @@ +0 storage_furniture Storage Furniture \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/1.txt b/assets/gapartnet/45159/parts_render/1.txt new file mode 100644 index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e --- /dev/null +++ b/assets/gapartnet/45159/parts_render/1.txt @@ -0,0 +1 @@ +1 cabinet Cabinet \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/10.txt b/assets/gapartnet/45159/parts_render/10.txt new file mode 100644 index 0000000000000000000000000000000000000000..42133cd901b64cc1ae2816b3098149bf581701f5 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/10.txt @@ -0,0 +1 @@ +10 panel_base Panel Base \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/11.txt b/assets/gapartnet/45159/parts_render/11.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d1291d5a9c5abc9d6c9ba3eb4925777b65da26b --- /dev/null +++ b/assets/gapartnet/45159/parts_render/11.txt @@ -0,0 +1 @@ +11 base_side_panel Base side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/12.txt b/assets/gapartnet/45159/parts_render/12.txt new file mode 100644 index 0000000000000000000000000000000000000000..854183498fc045e430eef6ac344d94825ee398dd --- /dev/null +++ b/assets/gapartnet/45159/parts_render/12.txt @@ -0,0 +1 @@ +12 base_side_panel Base side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/13.txt b/assets/gapartnet/45159/parts_render/13.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c1c10f8c99cbd4a6dd512dc317f7fd901a0b1fe --- /dev/null +++ b/assets/gapartnet/45159/parts_render/13.txt @@ -0,0 +1 @@ +13 base_side_panel Base side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/14.txt b/assets/gapartnet/45159/parts_render/14.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9f1c9b2adf5a34325194cc12d25bce68280d5d6 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/14.txt @@ -0,0 +1 @@ +14 base_side_panel Base side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/18.txt b/assets/gapartnet/45159/parts_render/18.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1425b95aa177ebba433c7d459ca21060beadae6 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/18.txt @@ -0,0 +1 @@ +18 back_panel Back panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/19.txt b/assets/gapartnet/45159/parts_render/19.txt new file mode 100644 index 0000000000000000000000000000000000000000..cee475693be4a3d1d656158907ddd7d0d970973a --- /dev/null +++ b/assets/gapartnet/45159/parts_render/19.txt @@ -0,0 +1 @@ +19 bottom_panel Bottom panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/2.txt b/assets/gapartnet/45159/parts_render/2.txt new file mode 100644 index 0000000000000000000000000000000000000000..36d4acf4574adb3e41641dc80a870c7d4176e32d --- /dev/null +++ b/assets/gapartnet/45159/parts_render/2.txt @@ -0,0 +1 @@ +2 cabinet_frame Cabinet frame \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/23.txt b/assets/gapartnet/45159/parts_render/23.txt new file mode 100644 index 0000000000000000000000000000000000000000..c5b40d0efb1ce59c56be306c819ce32b115a2267 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/23.txt @@ -0,0 +1 @@ +23 shelf Shelf \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/24.txt b/assets/gapartnet/45159/parts_render/24.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6b2c8aeac8dfc8d5a4867209fd44524a53230bc --- /dev/null +++ b/assets/gapartnet/45159/parts_render/24.txt @@ -0,0 +1 @@ +24 shelf Shelf \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/25.txt b/assets/gapartnet/45159/parts_render/25.txt new file mode 100644 index 0000000000000000000000000000000000000000..1295e025936fcfca8d1ec4267e2239f11ff7b587 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/25.txt @@ -0,0 +1 @@ +25 vertical_side_panel Vertical side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/26.txt b/assets/gapartnet/45159/parts_render/26.txt new file mode 100644 index 0000000000000000000000000000000000000000..04f62331da21839fa887fffa86a8173c1d1a2e83 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/26.txt @@ -0,0 +1 @@ +26 vertical_side_panel Vertical side panel \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/27.txt b/assets/gapartnet/45159/parts_render/27.txt new file mode 100644 index 0000000000000000000000000000000000000000..8af484cdab4028f2978bb8309063af04817f5dc0 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/27.txt @@ -0,0 +1 @@ +27 frame_vertical_bar Vertical support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/28.txt b/assets/gapartnet/45159/parts_render/28.txt new file mode 100644 index 0000000000000000000000000000000000000000..13901cba6fd0174f1ef1a4eff13a5fc328cbdf8d --- /dev/null +++ b/assets/gapartnet/45159/parts_render/28.txt @@ -0,0 +1 @@ +28 frame_vertical_bar Vertical support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/29.txt b/assets/gapartnet/45159/parts_render/29.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a26bd08990c72aabae683ecf7f4928ea29673d2 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/29.txt @@ -0,0 +1 @@ +29 frame_vertical_bar Vertical support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/3.txt b/assets/gapartnet/45159/parts_render/3.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7788a1d00aa316aaf1af34989e786efcc9e41a1 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/3.txt @@ -0,0 +1 @@ +3 cabinet_base Cabinet Base \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/30.txt b/assets/gapartnet/45159/parts_render/30.txt new file mode 100644 index 0000000000000000000000000000000000000000..5999b5609c5fa1f7fe73a01199acc7da3ffade98 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/30.txt @@ -0,0 +1 @@ +30 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/31.txt b/assets/gapartnet/45159/parts_render/31.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc27733b57f9e4a69fce02d29617c112bcc822d6 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/31.txt @@ -0,0 +1 @@ +31 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/32.txt b/assets/gapartnet/45159/parts_render/32.txt new file mode 100644 index 0000000000000000000000000000000000000000..f7ae9fa61e25dfc5775319af82998dcdc13647df --- /dev/null +++ b/assets/gapartnet/45159/parts_render/32.txt @@ -0,0 +1 @@ +32 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/33.txt b/assets/gapartnet/45159/parts_render/33.txt new file mode 100644 index 0000000000000000000000000000000000000000..e41b80d6dfeca339758af36c0c6080f6f4644645 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/33.txt @@ -0,0 +1 @@ +33 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/34.txt b/assets/gapartnet/45159/parts_render/34.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f2a39236d987ae9691f6f32ab83b135b68814b7 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/34.txt @@ -0,0 +1 @@ +34 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/35.txt b/assets/gapartnet/45159/parts_render/35.txt new file mode 100644 index 0000000000000000000000000000000000000000..baf2872528d6cb315571933366b54b3d14cd96c6 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/35.txt @@ -0,0 +1 @@ +35 other rectangle (other) \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/36.txt b/assets/gapartnet/45159/parts_render/36.txt new file mode 100644 index 0000000000000000000000000000000000000000..b902e3709c68e4dde2e7c279e798342476f6075e --- /dev/null +++ b/assets/gapartnet/45159/parts_render/36.txt @@ -0,0 +1 @@ +36 other_leaf other_leaf \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/4.txt b/assets/gapartnet/45159/parts_render/4.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0496063a5371fbc032d5d176d11025cd5bec56c --- /dev/null +++ b/assets/gapartnet/45159/parts_render/4.txt @@ -0,0 +1 @@ +4 cabinet_door Cabinet door \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/5.txt b/assets/gapartnet/45159/parts_render/5.txt new file mode 100644 index 0000000000000000000000000000000000000000..8961a68b7ec60600be062860ea47dc2082881628 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/5.txt @@ -0,0 +1 @@ +5 cabinet_door Cabinet door \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/6.txt b/assets/gapartnet/45159/parts_render/6.txt new file mode 100644 index 0000000000000000000000000000000000000000..869d3716990d799bccb07e46b82e9db74babe487 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/6.txt @@ -0,0 +1 @@ +6 cabinet_door_surface Cabinet door surface \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/7.txt b/assets/gapartnet/45159/parts_render/7.txt new file mode 100644 index 0000000000000000000000000000000000000000..290ea45f22079cf15721949acd2eb1a920977662 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/7.txt @@ -0,0 +1 @@ +7 handle Handle \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/8.txt b/assets/gapartnet/45159/parts_render/8.txt new file mode 100644 index 0000000000000000000000000000000000000000..ccad6e20e16f3cd72623982159577a6ec64a59b3 --- /dev/null +++ b/assets/gapartnet/45159/parts_render/8.txt @@ -0,0 +1 @@ +8 cabinet_door_surface Cabinet door surface \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render/9.txt b/assets/gapartnet/45159/parts_render/9.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3acf8b7fd3adeda0ae6c9acb49d02586eb705ca --- /dev/null +++ b/assets/gapartnet/45159/parts_render/9.txt @@ -0,0 +1 @@ +9 handle Handle \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/0.txt b/assets/gapartnet/45159/parts_render_after_merging/0.txt new file mode 100644 index 0000000000000000000000000000000000000000..dedfd2e8af99066d66a3ab6aea175d037cdd934a --- /dev/null +++ b/assets/gapartnet/45159/parts_render_after_merging/0.txt @@ -0,0 +1 @@ +0 storage_furniture storage_furniture \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/1.txt b/assets/gapartnet/45159/parts_render_after_merging/1.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f23e159a2c882657d45cb8353e306417be5722e --- /dev/null +++ b/assets/gapartnet/45159/parts_render_after_merging/1.txt @@ -0,0 +1 @@ +1 cabinet cabinet \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/10.txt b/assets/gapartnet/45159/parts_render_after_merging/10.txt new file mode 100644 index 0000000000000000000000000000000000000000..cce8336a1d2d2b059f12c8c2a887779e6460f95a --- /dev/null +++ b/assets/gapartnet/45159/parts_render_after_merging/10.txt @@ -0,0 +1 @@ +10 frame_horizontal_bar frame_horizontal_bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/11.txt b/assets/gapartnet/45159/parts_render_after_merging/11.txt new file mode 100644 index 0000000000000000000000000000000000000000..6971b36080be4616782086aa2bea4413b8698efa --- /dev/null +++ b/assets/gapartnet/45159/parts_render_after_merging/11.txt @@ -0,0 +1 @@ +11 frame_horizontal_bar frame_horizontal_bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/12.txt b/assets/gapartnet/45159/parts_render_after_merging/12.txt new file mode 100644 index 0000000000000000000000000000000000000000..06f10b2caba0abe36056adbabe54c690b6667d0f --- /dev/null +++ b/assets/gapartnet/45159/parts_render_after_merging/12.txt @@ -0,0 +1 @@ +12 frame_horizontal_bar frame_horizontal_bar \ No newline at end of file diff --git a/assets/gapartnet/45159/parts_render_after_merging/13.txt b/assets/gapartnet/45159/parts_render_after_merging/13.txt new file mode 100644 index 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0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/assets/gapartnet/45159/textured_objs/original-9.obj b/assets/gapartnet/45159/textured_objs/original-9.obj new file mode 100644 index 0000000000000000000000000000000000000000..46984b086285b592bbbcabcbeb90802dcf41453d --- /dev/null +++ b/assets/gapartnet/45159/textured_objs/original-9.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b28d65b3a4723b65348632eca8f25cce90ecb6d7d213ec5d7231d98b442bebad +size 947 diff --git a/assets/gapartnet/45159/tree_hier.html b/assets/gapartnet/45159/tree_hier.html new file mode 100644 index 0000000000000000000000000000000000000000..e1c3a3485162068b5e37346890bd6a4eaed7349e --- /dev/null +++ b/assets/gapartnet/45159/tree_hier.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 storage_furniture Storage Furniture

1 cabinet Cabinet

2 cabinet_frame Cabinet frame

3 cabinet_base Cabinet Base

4 cabinet_door Cabinet door

5 cabinet_door Cabinet door

23 shelf Shelf

24 shelf Shelf

18 back_panel Back panel

19 bottom_panel Bottom panel

25 vertical_side_panel Vertical side panel

26 vertical_side_panel Vertical side panel

27 frame_vertical_bar Vertical support bar

28 frame_vertical_bar Vertical support bar

29 frame_vertical_bar Vertical support bar

30 frame_horizontal_bar Horizontal support bar

31 frame_horizontal_bar Horizontal support bar

32 frame_horizontal_bar Horizontal support bar

33 frame_horizontal_bar Horizontal support bar

34 frame_horizontal_bar Horizontal support bar

35 other rectangle (other)

10 panel_base Panel Base

8 cabinet_door_surface Cabinet door surface

9 handle Handle

6 cabinet_door_surface Cabinet door surface

7 handle Handle

36 other_leaf other_leaf

11 base_side_panel Base side panel

12 base_side_panel Base side panel

13 base_side_panel Base side panel

14 base_side_panel Base side panel

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0 storage_furniture storage_furniture

1 cabinet cabinet

2 cabinet_frame cabinet_frame

15 cabinet_base cabinet_base

21 cabinet_door cabinet_door

24 cabinet_door cabinet_door

27 shelf shelf

28 shelf shelf

3 back_panel back_panel

4 bottom_panel bottom_panel

5 vertical_side_panel vertical_side_panel

6 vertical_side_panel vertical_side_panel

7 frame_vertical_bar frame_vertical_bar

8 frame_vertical_bar frame_vertical_bar

9 frame_vertical_bar frame_vertical_bar

10 frame_horizontal_bar frame_horizontal_bar

11 frame_horizontal_bar frame_horizontal_bar

12 frame_horizontal_bar frame_horizontal_bar

13 frame_horizontal_bar frame_horizontal_bar

14 frame_horizontal_bar frame_horizontal_bar

16 panel_base panel_base

22 cabinet_door_surface cabinet_door_surface

23 handle handle

25 cabinet_door_surface cabinet_door_surface

26 handle handle

17 base_side_panel base_side_panel

18 base_side_panel base_side_panel

19 base_side_panel base_side_panel

20 base_side_panel base_side_panel

\ No newline at end of file diff --git a/robots/g1/README.md b/robots/g1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6fe48cea75d8dbec798e07457693601205ab9f13 --- /dev/null +++ b/robots/g1/README.md @@ -0,0 +1,30 @@ +# Unitree G1 Description (URDF & MJCF) + +## Overview + +This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/). + +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` | 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) + +1. Open MuJoCo Viewer + + ```bash + pip install mujoco + python -m mujoco.viewer + ``` + +2. 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