From 4dc8beaf033ae1e3a094ea12fa33e081ce02ccd6 Mon Sep 17 00:00:00 2001 From: Jonathan Zamora Date: Wed, 27 Aug 2025 16:26:22 -0700 Subject: [PATCH 1/2] update to g1_with_hands for mujoco --- CHANGELOG.md | 1 + robot_descriptions/_repositories.py | 2 +- robot_descriptions/g1_mj_description.py | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 15a6c276..be8519cd 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ All notable changes to this project will be documented in this file. ### Changed - CICD: Disable fail-fast when testing loaders +- Update `g1_mj_description` to load `g1_with_hands.xml` instead of `g1.xml` ## [1.20.0] - 2025-07-15 diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py index 87db4de8..1f64bbc5 100644 --- a/robot_descriptions/_repositories.py +++ b/robot_descriptions/_repositories.py @@ -205,7 +205,7 @@ class Repository: ), "mujoco_menagerie": Repository( url="https://github.com/deepmind/mujoco_menagerie.git", - commit="66384c6b8581c811a7b1eb63bcf4fa944fa43602", + commit="c1503a62496b64222c64ff65dd652d461a5b064e", cache_path="mujoco_menagerie", ), "nao_robot": Repository( diff --git a/robot_descriptions/g1_mj_description.py b/robot_descriptions/g1_mj_description.py index 2460643e..c6437731 100644 --- a/robot_descriptions/g1_mj_description.py +++ b/robot_descriptions/g1_mj_description.py @@ -18,4 +18,4 @@ PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "unitree_g1") -MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1.xml") +MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1_with_hands.xml") From 457964407314614b2f108d916542ba7b62144c32 Mon Sep 17 00:00:00 2001 From: Jonathan Zamora <50164418+jonzamora@users.noreply.github.com> Date: Tue, 2 Sep 2025 23:59:19 -0700 Subject: [PATCH 2/2] Update robot_descriptions/g1_mj_description.py MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Stéphane Caron <1189580+stephane-caron@users.noreply.github.com> --- robot_descriptions/g1_mj_description.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/robot_descriptions/g1_mj_description.py b/robot_descriptions/g1_mj_description.py index c6437731..c244d90c 100644 --- a/robot_descriptions/g1_mj_description.py +++ b/robot_descriptions/g1_mj_description.py @@ -18,4 +18,6 @@ PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "unitree_g1") -MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1_with_hands.xml") +MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1.xml") + +MJCF_PATH_WITH_HANDS: str = _path.join(PACKAGE_PATH, "g1_with_hands.xml")