Merge pull request #196 from silviacruciani/patch-1

kevinzakka · web-flow · commit c1503a62496b · 2025-08-08T12:29:51.000-04:00
Update g1_mjx.xml right_hip_roll joint limit
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -11,6 +11,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
 - [Saran Tunyasuvunakool](https://github.com/saran-t) — Google DeepMind
 - [Tom Erez](https://github.com/erez-tom) — Google DeepMind
 - [Yuval Tassa](https://github.com/yuvaltassa) — Google DeepMind
+- [Silvia Cruciani](https://github.com/silviacruciani) - Google DeepMind
 
 ## Community Contributors
 
diff --git a/unitree_g1/CHANGELOG.md b/unitree_g1/CHANGELOG.md
@@ -2,6 +2,9 @@
 
 All notable changes to this model will be documented in this file.
 
+## [2025-08-7]
+- Update the right hip joint limit of [g1_mjx.xml](g1_mjx.xml) to match the real robot limits
+
 ## [2025-05-30]
 
 - Add MJX variant of [g1.xml](g1.xml), with manually designed collision geoms and contact pairs.
diff --git a/unitree_g1/g1_mjx.xml b/unitree_g1/g1_mjx.xml
@@ -30,7 +30,7 @@
           <joint axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" armature="0.01017752004"/>
         </default>
         <default class="hip_roll">
-          <joint axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139" armature="0.025101925"/>
+          <joint axis="1 0 0" actuatorfrcrange="-139 139" armature="0.025101925"/>
         </default>
         <default class="hip_yaw">
           <joint axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" armature="0.01017752004"/>
@@ -149,7 +149,7 @@
         <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
           <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
             diaginertia="0.00254986 0.00241169 0.00148755"/>
-          <joint name="left_hip_roll_joint" class="hip_roll"/>
+          <joint name="left_hip_roll_joint" range="-0.5236 2.9671" class="hip_roll"/>
           <geom class="visual" mesh="left_hip_roll_link"/>
           <geom name="left_hip_collision" class="collision" size="0.06" fromto="0.02 0 0 0.02 0 -0.08"/>
           <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
@@ -195,7 +195,7 @@
         <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
           <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52"
             diaginertia="0.00254986 0.00241169 0.00148755"/>
-          <joint name="right_hip_roll_joint" class="hip_roll"/>
+          <joint name="right_hip_roll_joint" range="-2.9671 0.5236" class="hip_roll"/>
           <geom class="visual" mesh="right_hip_roll_link"/>
           <geom name="right_hip_collision" class="collision" size="0.06" fromto="0.02 0 0 0.02 0 -0.08"/>
           <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
