Skip to content

Make G1 compatible with H1 #63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
janblumenkamp wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Make G1 compatible with H1 #63

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
deacb6e
Rename floating_base_joint to free_base
janblumenkamp Nov 17, 2025
d391f28
Add cam_hurdle (similar to H1)
janblumenkamp Nov 17, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion humanoid_bench/assets/g1/g1.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@
<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"/>
<freejoint name="free_base"/>
<light name="tracking" mode="trackcom" pos="0 0 2"/>
<geom type="mesh" class="visual" mesh="pelvis"/>
<geom type="mesh" mesh="pelvis" class="collision"/>
Expand Down
3 changes: 2 additions & 1 deletion humanoid_bench/assets/robots/g1_torque.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,8 +79,9 @@
<worldbody>
<body name="pelvis" pos="0 0 0.755" childclass="g1">
<camera name="cam_default" pos="2 3 0.8" mode="trackcom" xyaxes="-1 0.5 0 -0.2 -0.2 1"/>
<camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/>
<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"/>
<freejoint name="free_base"/>
<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"/>
Expand Down