Update Unitree G1 MJCF path #181
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Let's make this a variant, rather than update the default description? This would be consistent since both are provided by Menagerie.
This need is related to the ongoing discussion on variants: variants are not available for all kinds of descriptions yet, but they are available for MJCF descriptions thanks to #76 so we could use it here:
model = load_robot_description("g1_mj_description", variant="g1_with_hands")We could even add a show_g1_with_hands.py example so that the feature is easier to discover.
Co-authored-by: Stéphane Caron <[email protected]>
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@stephane-caron Great suggestion! I was thinking of the same thing re: making a variant for the G1. I've gone ahead and updated the PR with your suggestion 🚀 😄 |
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All good, thank you 😃 |
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Hi,
This PR updates the MJCF path of the Unitree G1 robot from
g1.xmltog1_with_hands.xml.The purpose is so users can interact directly with the G1 and its supported 3-finger hands, which is an important use-case for the G1 (e.g. for manipulation tasks).
Besides this, the
g1.xmlhas "rubber hands" that have no collisions, so they aren't useful for manipulation tasks at this time.