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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
766 stars 140 forks source link

[Feature] add G1 robot #405

Closed matheecs closed 2 months ago

StoneT2000 commented 3 months ago

Thank you for your contribution in adding the new G1 robot! I will review this as soon as I can. Most likely though we might want to move the robot assets to under our organization and document any changes made to the original URDF but the rest should be fine.

matheecs commented 2 months ago

I created a simplified URDF, g1_simplified.urdf, to improve simulation speed. The training demo looks like this:

https://github.com/user-attachments/assets/e32e2495-56f4-4d6b-9eae-af0466a38585

Note: Please pull the latest update from the original repository.

StoneT2000 commented 2 months ago

Maybe a bit too simplified. Certainly runs fine but since the simplification removes everything but meshes for the feet / legs, can you rename unitree_g1_simplified to unitree_g1_simplified_legs? Same for the URDF file name to make it clear. I think some users may find it confusing why the simplified model can fall through the floor a bit.

After that then happy to merge.

matheecs commented 2 months ago

I renamed unitree_g1_simplified to unitree_g1_simplified_legs and updated the URDF name. Thanks.

Note: Please pull the latest update from the original repository.

StoneT2000 commented 2 months ago

lgtm, thanks for your contribution!