diff --git a/fair_mon/xhand_right_coke_0.npz b/fair_mon/xhand_right_coke_0.npz deleted file mode 100644 index 8b9c1a86b5449baeb458ddbf2301638f522115bf..0000000000000000000000000000000000000000 --- a/fair_mon/xhand_right_coke_0.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8356915b261bacf9e3a32272785434ddac5842d2690c7f26d2c25ffe718ab718 -size 47598 diff --git a/processed/amass/assets/robots/unitree_g1/scene.xml b/processed/amass/assets/robots/unitree_g1/scene.xml index e7dcb9491226d43c0a81650218b576f5a56b11e5..8d71ceeedb2f102565f596c83b8c21f6a0dadf23 100644 --- a/processed/amass/assets/robots/unitree_g1/scene.xml +++ b/processed/amass/assets/robots/unitree_g1/scene.xml @@ -2,7 +2,7 @@ - @@ -26,81 +26,88 @@ - - - - - - - - + - + - + + - + + - + + - + + - - + + - + + - + + - + + - + + - + + - + + - + + - + + - - + + - + + - + + @@ -198,10 +205,7 @@ diaginertia="0.0113804 0.0112778 0.00146458" /> - + - - - - + + + + + + + @@ -255,10 +262,7 @@ diaginertia="0.011374 0.0112843 0.00146452" /> - + - - - - + + + + + + + @@ -360,10 +367,7 @@ - - + @@ -425,10 +429,7 @@ - - + @@ -500,25 +501,45 @@ --> - + + - - - - - - - - - + + + + + + + + + diff --git a/processed/amass/assets/robots/unitree_g1/scene_simple.xml b/processed/amass/assets/robots/unitree_g1/scene_simple.xml new file mode 100644 index 0000000000000000000000000000000000000000..e7dcb9491226d43c0a81650218b576f5a56b11e5 --- /dev/null +++ b/processed/amass/assets/robots/unitree_g1/scene_simple.xml @@ -0,0 +1,524 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/processed/amass/assets/robots/unitree_g1_old/LICENSE b/processed/amass/assets/robots/unitree_g1_old/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..6dfdadaa90baa4f7bea7400d3c4e8b9c784ae37f --- /dev/null +++ b/processed/amass/assets/robots/unitree_g1_old/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/processed/amass/assets/robots/unitree_g1/MUJOCO_LOG.TXT b/processed/amass/assets/robots/unitree_g1_old/MUJOCO_LOG.TXT similarity index 100% rename from processed/amass/assets/robots/unitree_g1/MUJOCO_LOG.TXT rename to processed/amass/assets/robots/unitree_g1_old/MUJOCO_LOG.TXT diff --git a/processed/amass/assets/robots/unitree_g1_old/README.md b/processed/amass/assets/robots/unitree_g1_old/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3bf2d267f390df06cce99b984e48e6bdb4f574ef --- /dev/null +++ b/processed/amass/assets/robots/unitree_g1_old/README.md @@ -0,0 +1,32 @@ +File comes from GMR/assets/unitree_g1 + +# 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. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer. diff --git a/processed/amass/assets/robots/unitree_g1_old/g1_custom_collision_29dof.urdf b/processed/amass/assets/robots/unitree_g1_old/g1_custom_collision_29dof.urdf new file mode 100644 index 0000000000000000000000000000000000000000..89ad14234f5a73e5a38cc532dd149cb8e74fded7 --- /dev/null +++ b/processed/amass/assets/robots/unitree_g1_old/g1_custom_collision_29dof.urdf @@ -0,0 +1,1116 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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