unitree_g1 issue - Githubissues

google-deepmind / mujoco_menagerie

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

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unitree_g1 issue #63

Closed chauncygu closed 4 months ago

chauncygu commented 5 months ago

Which model is the issue affecting? unitree_g1 What is the issue? When I run python -m mujoco.viewer --mjcf mujoco_menagerie/unitree_g1/scene.xml this happens: XML Error: Schema violation: unrecognized attribute: 'ellipsoidinertia' Element 'global', line 0

Is there any additional context you can provide (e.g., a spec sheet or a URDF to show a value mismatch)? Run on a Ubuntu 20.04 system, with Python 3.10

kevinzakka commented 4 months ago

Hi @chauncygu,

Looks like the minimum required version on the G1 is incorrect, it should be 2.3.4. You can either remove the ellipsoidinertia attribute (it won't affect the model in any way) or upgrade your MuJoCo version to at least 2.3.4 (I would recommend the latest).