Skip to content

Update g1_mjx.xml right_hip_roll joint limit #196

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

Merged
merged 3 commits into from
Aug 8, 2025
Merged

Update g1_mjx.xml right_hip_roll joint limit #196

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
c8bba94
Update g1_mjx.xml right_hip_roll joint limit
silviacruciani Aug 1, 2025
a44b4aa
Update CONTRIBUTORS.md
silviacruciani Aug 7, 2025
6b75b8c
Update CHANGELOG.md
silviacruciani Aug 7, 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
1 change: 1 addition & 0 deletions CONTRIBUTORS.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
3 changes: 3 additions & 0 deletions unitree_g1/CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down
6 changes: 3 additions & 3 deletions unitree_g1/g1_mjx.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down