Improve G1 README.

PiperOrigin-RevId: 635556679 Change-Id: I912bbe18634490a0d1cbfa1c25b878e78e2fa1ba
Pointergg · May 20, 2024 · 95659f9 · 95659f9
1 parent de0f338
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Showing 4 changed files with 29 additions and 10 deletions.
diff --git a/unitree_g1/README.md b/unitree_g1/README.md
@@ -18,6 +18,10 @@ description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g
 
 1. Copied the MJCF description from [g1_description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description).
 2. Manually edited the MJCF to extract common properties into the `<default>` section.
+3. Added sites for the IMU, head and feet.
+4. Add IMU sensor (gyro, accelero, framequat).
+5. Added stand keyframe.
+6. Added spotlight and tracking light.
 
 ## License
 

diff --git a/unitree_g1/g1.png b/unitree_g1/g1.png
diff --git a/unitree_g1/g1.xml b/unitree_g1/g1.xml
@@ -21,7 +21,7 @@
       <default class="collision">
         <geom group="3" type="mesh"/>
         <default class="foot">
-          <geom type="sphere"/>
+          <geom type="sphere" size="0.001"/>
         </default>
       </default>
     </default>
@@ -77,9 +77,11 @@
   </asset>
 
   <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="pelvis" pos="0 -6 4" cutoff="30"/>
     <body name="pelvis" pos="0 0 0.755" childclass="g1">
       <inertial pos="0 0 -0.07605" quat="1 0 -0.000405289 0" mass="2.86" diaginertia="0.0079143 0.0069837 0.0059404"/>
       <freejoint name="floating_base_joint"/>
+      <light name="tracking" mode="trackcom" pos="0 0 2"/>
       <geom type="mesh" class="visual" mesh="pelvis"/>
       <geom type="mesh" mesh="pelvis" class="collision"/>
       <geom type="mesh" class="visual" material="black" mesh="pelvis_contour_link"/>
@@ -119,10 +121,10 @@
                     diaginertia="0.00110394 0.0010657 0.000149255"/>
                   <joint name="left_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618"/>
                   <geom type="mesh" class="visual" material="black" mesh="left_ankle_roll_link"/>
-                  <geom size="0.001" pos="-0.06 0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="-0.06 -0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="0.13 0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="0.13 -0.02 -0.03" class="foot"/>
+                  <geom pos="-0.06 0.02 -0.03" class="foot"/>
+                  <geom pos="-0.06 -0.02 -0.03" class="foot"/>
+                  <geom pos="0.13 0.02 -0.03" class="foot"/>
+                  <geom pos="0.13 -0.02 -0.03" class="foot"/>
                 </body>
               </body>
             </body>
@@ -165,10 +167,10 @@
                     mass="0.391" diaginertia="0.00110394 0.0010657 0.000149255"/>
                   <joint name="right_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618"/>
                   <geom type="mesh" class="visual" material="black" mesh="right_ankle_roll_link"/>
-                  <geom size="0.001" pos="-0.06 0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="-0.06 -0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="0.13 0.02 -0.03" class="foot"/>
-                  <geom size="0.001" pos="0.13 -0.02 -0.03" class="foot"/>
+                  <geom pos="-0.06 0.02 -0.03" class="foot"/>
+                  <geom pos="-0.06 -0.02 -0.03" class="foot"/>
+                  <geom pos="0.13 0.02 -0.03" class="foot"/>
+                  <geom pos="0.13 -0.02 -0.03" class="foot"/>
                 </body>
               </body>
             </body>
@@ -413,4 +415,18 @@
     <accelerometer name="imu-linear-acceleration" site="imu" cutoff="157"/>
     <framequat name="imu-body-quat" objtype="site" objname="imu"/>
   </sensor>
+
+  <keyframe>
+    <key name="stand"
+      qpos="
+      0 0 0.75
+      1 0 0 0
+      0 0 0 0 0 0
+      0 0 0 0 0 0
+      0
+      0 0 0 0 0
+      0 0 0 0 0
+      0 0 0 0 0 0 0
+      0 0 0 0 0 0 0"/>
+  </keyframe>
 </mujoco>
diff --git a/unitree_g1/scene.xml b/unitree_g1/scene.xml
@@ -17,7 +17,6 @@
   </asset>
 
   <worldbody>
-    <light pos="0 0 3" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody>
 </mujoco>