From deacb6e8b4045c253d48794c45e1b23cacee1e3a Mon Sep 17 00:00:00 2001 From: "J. Blumenkamp" Date: Mon, 17 Nov 2025 12:13:42 +0000 Subject: [PATCH 1/2] Rename floating_base_joint to free_base --- humanoid_bench/assets/g1/g1.xml | 2 +- humanoid_bench/assets/robots/g1_torque.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/humanoid_bench/assets/g1/g1.xml b/humanoid_bench/assets/g1/g1.xml index 252afea2..8a4bdb58 100644 --- a/humanoid_bench/assets/g1/g1.xml +++ b/humanoid_bench/assets/g1/g1.xml @@ -80,7 +80,7 @@ - + diff --git a/humanoid_bench/assets/robots/g1_torque.xml b/humanoid_bench/assets/robots/g1_torque.xml index e4a6188b..ea59992c 100644 --- a/humanoid_bench/assets/robots/g1_torque.xml +++ b/humanoid_bench/assets/robots/g1_torque.xml @@ -80,7 +80,7 @@ - + From d391f281dbe7594e6be5de3ac89f8c5ccbc330a2 Mon Sep 17 00:00:00 2001 From: "J. Blumenkamp" Date: Mon, 17 Nov 2025 12:14:24 +0000 Subject: [PATCH 2/2] Add cam_hurdle (similar to H1) --- humanoid_bench/assets/robots/g1_torque.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/humanoid_bench/assets/robots/g1_torque.xml b/humanoid_bench/assets/robots/g1_torque.xml index ea59992c..de0040b7 100644 --- a/humanoid_bench/assets/robots/g1_torque.xml +++ b/humanoid_bench/assets/robots/g1_torque.xml @@ -79,6 +79,7 @@ +