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Upload third-party source (skip LFS pointer assets) (part 5)

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  1. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_23dof.xml +477 -0
  2. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof.xml +296 -0
  3. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof_old.xml +521 -0
  4. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof_with_hand.xml +743 -0
  5. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_23dof.xml +23 -0
  6. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_29dof.xml +29 -0
  7. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_29dof_with_hand.xml +23 -0
  8. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_empty.xml +28 -0
  9. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/observation_config_example.yaml +150 -0
  10. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config.yaml +80 -0
  11. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_low_latency.yaml +92 -0
  12. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_sonic_release.yaml +79 -0
  13. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_sonic_v1_1.yaml +74 -0
  14. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/sonic_v1_1/observation_config.yaml +74 -0
  15. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/convert_motions.py +274 -0
  16. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464/info.txt +52 -0
  17. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464/metadata.txt +17 -0
  18. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464_M/info.txt +52 -0
  19. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464_M/metadata.txt +17 -0
  20. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/forward_lunge_R_001__A359_M/info.txt +51 -0
  21. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/forward_lunge_R_001__A359_M/metadata.txt +17 -0
  22. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545/info.txt +54 -0
  23. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545/metadata.txt +17 -0
  24. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545_M/info.txt +52 -0
  25. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545_M/metadata.txt +17 -0
  26. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543/info.txt +52 -0
  27. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543/metadata.txt +17 -0
  28. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543_M/info.txt +52 -0
  29. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543_M/metadata.txt +17 -0
  30. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/squat_001__A359/info.txt +51 -0
  31. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/squat_001__A359/metadata.txt +17 -0
  32. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_forward_lunge_R_001__A359_M/info.txt +51 -0
  33. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_forward_lunge_R_001__A359_M/metadata.txt +17 -0
  34. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359/info.txt +53 -0
  35. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359/metadata.txt +17 -0
  36. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359_M/info.txt +51 -0
  37. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359_M/metadata.txt +17 -0
  38. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428/info.txt +51 -0
  39. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428/metadata.txt +17 -0
  40. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428_M/info.txt +51 -0
  41. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428_M/metadata.txt +17 -0
  42. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/install_deps.sh +926 -0
  43. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/install_ros2_humble.sh +163 -0
  44. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/restore_ubuntu_sources.sh +43 -0
  45. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/setup_env.sh +351 -0
  46. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/setup_wifi.sh +265 -0
  47. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/CMakeLists.txt +3 -0
  48. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/CMakeLists.txt +38 -0
  49. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/InferenceEngine.cpp +794 -0
  50. third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/InferenceEngine.h +93 -0
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_23dof.xml ADDED
@@ -0,0 +1,477 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_23dof">
2
+ <compiler angle="radian" meshdir="meshes" />
3
+ <default>
4
+ <default class="leg_motor">
5
+ <joint damping="0.05" armature="0.01" frictionloss="0.2" />
6
+ </default>
7
+ <default class="ankle_motor">
8
+ <joint damping="0.05" armature="0.01" frictionloss="0.2" />
9
+ </default>
10
+ <default class="arm_motor">
11
+ <joint damping="0.05" armature="0.01" frictionloss="0.2" />
12
+ </default>
13
+ <default class="waist_motor">
14
+ <joint damping="0.05" armature="0.01" frictionloss="0.2" />
15
+ </default>
16
+
17
+ </default>
18
+
19
+ <asset>
20
+ <mesh name="pelvis" file="pelvis.STL" />
21
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
22
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
23
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
24
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
25
+ <mesh name="left_knee_link" file="left_knee_link.STL" />
26
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
27
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
28
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
29
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
30
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
31
+ <mesh name="right_knee_link" file="right_knee_link.STL" />
32
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
33
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
34
+ <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
35
+ <mesh name="torso_link" file="torso_link.STL" />
36
+ <mesh name="logo_link" file="logo_link.STL" />
37
+ <mesh name="head_link" file="head_link.STL" />
38
+ <mesh name="waist_support_link" file="waist_support_link.STL" />
39
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
40
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
41
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
42
+ <mesh name="left_elbow_link" file="left_elbow_link.STL" />
43
+ <mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL" />
44
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
45
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
46
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
47
+ <mesh name="right_elbow_link" file="right_elbow_link.STL" />
48
+ <mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL" />
49
+ </asset>
50
+
51
+ <worldbody>
52
+ <body name="pelvis" pos="0 0 0.793">
53
+ <site name="imu" size="0.01" pos="0.0 0.0 0.0" />
54
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
55
+ diaginertia="0.010549 0.0093089 0.0079184" />
56
+ <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
57
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
58
+ mesh="pelvis" />
59
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
60
+ mesh="pelvis_contour_link" />
61
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
62
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
63
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
64
+ mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
65
+ <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
66
+ actuatorfrcrange="-88 88" class="leg_motor" />
67
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
68
+ mesh="left_hip_pitch_link" />
69
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
70
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
71
+ <inertial pos="0.029812 -0.001045 -0.087934"
72
+ quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
73
+ diaginertia="0.00254986 0.00241169 0.00148755" />
74
+ <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
75
+ actuatorfrcrange="-88 88" class="leg_motor" />
76
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
77
+ mesh="left_hip_roll_link" />
78
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
79
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
80
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
81
+ mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
82
+ <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
83
+ actuatorfrcrange="-88 88" class="leg_motor" />
84
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
85
+ mesh="left_hip_yaw_link" />
86
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
87
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
88
+ quat="0.996179 0 0.0873386 0">
89
+ <inertial pos="0.005457 0.003964 -0.12074"
90
+ quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
91
+ diaginertia="0.0113804 0.0112778 0.00146458" />
92
+ <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
93
+ actuatorfrcrange="-139 139" class="leg_motor" />
94
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
95
+ rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
96
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
97
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
98
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
99
+ mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
100
+ <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
101
+ range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
102
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
103
+ rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
104
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
105
+ <body name="left_ankle_roll_link" pos="0 0 -0.017558">
106
+ <inertial pos="0.026505 0 -0.016425"
107
+ quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
108
+ diaginertia="0.00167218 0.0016161 0.000217621" />
109
+ <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
110
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
111
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
112
+ rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
113
+ <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
114
+ <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
115
+ <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
116
+ <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
117
+ </body>
118
+ </body>
119
+ </body>
120
+ </body>
121
+ </body>
122
+ </body>
123
+ <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
124
+ <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
125
+ mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
126
+ <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
127
+ actuatorfrcrange="-88 88" class="leg_motor" />
128
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
129
+ mesh="right_hip_pitch_link" />
130
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
131
+ <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
132
+ <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
133
+ mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
134
+ <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
135
+ actuatorfrcrange="-88 88" class="leg_motor" />
136
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
137
+ mesh="right_hip_roll_link" />
138
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
139
+ <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
140
+ <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
141
+ mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
142
+ <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
143
+ actuatorfrcrange="-88 88" class="leg_motor" />
144
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
145
+ mesh="right_hip_yaw_link" />
146
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
147
+ <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
148
+ quat="0.996179 0 0.0873386 0">
149
+ <inertial pos="0.005457 -0.003964 -0.12074"
150
+ quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
151
+ diaginertia="0.011374 0.0112843 0.00146452" />
152
+ <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
153
+ actuatorfrcrange="-139 139" class="leg_motor" />
154
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
155
+ rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
156
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
157
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
158
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
159
+ mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
160
+ <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
161
+ range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
162
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
163
+ rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
164
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
165
+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
166
+ <inertial pos="0.026505 0 -0.016425"
167
+ quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
168
+ diaginertia="0.00167218 0.0016161 0.000217621" />
169
+ <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
170
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
171
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
172
+ rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
173
+ <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
174
+ <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
175
+ <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
176
+ <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
177
+ </body>
178
+ </body>
179
+ </body>
180
+ </body>
181
+ </body>
182
+ </body>
183
+ <body name="torso_link" pos="-0.0039635 0 0.054">
184
+ <inertial pos="0.0034309 0.00025505 0.174524"
185
+ quat="0.99988 0.000261157 0.0149809 -0.0038211" mass="9.842"
186
+ diaginertia="0.135151 0.123088 0.0327256" />
187
+ <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
188
+ actuatorfrcrange="-88 88" class="waist_motor" />
189
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
190
+ mesh="torso_link" />
191
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
192
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
193
+ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
194
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
195
+ group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
196
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
197
+ mesh="logo_link" />
198
+ <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0"
199
+ rgba="0.2 0.2 0.2 1" mesh="head_link" />
200
+ <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
201
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
202
+ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
203
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
204
+ mesh="waist_support_link" />
205
+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
206
+ quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
207
+ <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
208
+ mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
209
+ <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704"
210
+ actuatorfrcrange="-25 25" class="arm_motor" />
211
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
212
+ mesh="left_shoulder_pitch_link" />
213
+ <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder"
214
+ rgba="0.7 0.7 0.7 1" />
215
+ <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
216
+ <inertial pos="-0.000227 0.00727 -0.063243"
217
+ quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
218
+ diaginertia="0.000691311 0.000618011 0.000388977" />
219
+ <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515"
220
+ actuatorfrcrange="-25 25" class="arm_motor" />
221
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
222
+ mesh="left_shoulder_roll_link" />
223
+ <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
224
+ <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
225
+ <inertial pos="0.010773 -0.002949 -0.072009"
226
+ quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
227
+ diaginertia="0.00106187 0.00103217 0.000400661" />
228
+ <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
229
+ actuatorfrcrange="-25 25" class="arm_motor" />
230
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
231
+ rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
232
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
233
+ <body name="left_elbow_link" pos="0.015783 0 -0.080518">
234
+ <inertial pos="0.064956 0.004454 -0.010062"
235
+ quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
236
+ diaginertia="0.000443035 0.000421612 0.000259353" />
237
+ <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
238
+ actuatorfrcrange="-25 25" class="arm_motor" />
239
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
240
+ rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
241
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
242
+ <body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
243
+ <inertial pos="0.107947 0.00163512 0.00202245"
244
+ quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929"
245
+ diaginertia="0.00200292 0.0019426 0.000195232" />
246
+ <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
247
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
248
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
249
+ rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand" />
250
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand" />
251
+ </body>
252
+ </body>
253
+ </body>
254
+ </body>
255
+ </body>
256
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
257
+ quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
258
+ <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
259
+ mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
260
+ <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704"
261
+ actuatorfrcrange="-25 25" class="arm_motor" />
262
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
263
+ mesh="right_shoulder_pitch_link" />
264
+ <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder"
265
+ rgba="0.7 0.7 0.7 1" />
266
+ <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
267
+ quat="0.990268 0.139172 0 0">
268
+ <inertial pos="-0.000227 -0.00727 -0.063243"
269
+ quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
270
+ diaginertia="0.000691311 0.000618011 0.000388977" />
271
+ <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882"
272
+ actuatorfrcrange="-25 25" class="arm_motor" />
273
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
274
+ mesh="right_shoulder_roll_link" />
275
+ <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
276
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
277
+ <inertial pos="0.010773 0.002949 -0.072009"
278
+ quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
279
+ diaginertia="0.00106187 0.00103217 0.000400661" />
280
+ <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
281
+ actuatorfrcrange="-25 25" class="arm_motor" />
282
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
283
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
284
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
285
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
286
+ <inertial pos="0.064956 -0.004454 -0.010062"
287
+ quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
288
+ diaginertia="0.000443035 0.000421612 0.000259353" />
289
+ <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
290
+ actuatorfrcrange="-25 25" class="arm_motor" />
291
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
292
+ rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
293
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
294
+ <body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
295
+ <inertial pos="0.107947 -0.00163512 0.00202245"
296
+ quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929"
297
+ diaginertia="0.00200292 0.0019426 0.000195232" />
298
+ <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
299
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
300
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
301
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand" />
302
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand" />
303
+ </body>
304
+ </body>
305
+ </body>
306
+ </body>
307
+ </body>
308
+ </body>
309
+ </body>
310
+ <body name="waist_roll" pos="0 0 20">
311
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
312
+ diaginertia="1e-03 1e-03 1e-03" />
313
+ <joint name="waist_roll_joint" />
314
+ </body>
315
+ <body name="waist_pitch" pos="0 0 20">
316
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
317
+ diaginertia="1e-03 1e-03 1e-03" />
318
+ <joint name="waist_pitch_joint" />
319
+ </body>
320
+ <body name="left_wrist_pitch" pos="0 0 20">
321
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
322
+ diaginertia="1e-03 1e-03 1e-03" />
323
+ <joint name="left_wrist_pitch_joint" />
324
+ </body>
325
+ <body name="left_wrist_yaw" pos="0 0 20">
326
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
327
+ diaginertia="1e-03 1e-03 1e-03" />
328
+ <joint name="left_wrist_yaw_joint" />
329
+ </body>
330
+ <body name="right_wrist_pitch" pos="0 0 20">
331
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
332
+ diaginertia="1e-03 1e-03 1e-03" />
333
+ <joint name="right_wrist_pitch_joint" />
334
+ </body>
335
+ <body name="right_wrist_yaw" pos="0 0 20">
336
+ <inertial pos="0.0 0.0 0.0" mass="1e-03"
337
+ diaginertia="1e-03 1e-03 1e-03" />
338
+ <joint name="right_wrist_yaw_joint" />
339
+ </body>
340
+ </worldbody>
341
+
342
+ <actuator>
343
+ <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
344
+ <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
345
+ <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
346
+ <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
347
+ <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
348
+ <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
349
+
350
+ <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
351
+ <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
352
+ <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
353
+ <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
354
+ <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
355
+ <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
356
+
357
+ <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
358
+ <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
359
+ <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
360
+
361
+ <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
362
+ <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
363
+ <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
364
+ <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
365
+ <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
366
+ <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
367
+ <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
368
+
369
+ <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
370
+ <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
371
+ <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
372
+ <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
373
+ <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
374
+ <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
375
+ <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
376
+ </actuator>
377
+
378
+ <sensor>
379
+ <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
380
+ <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
381
+ <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
382
+ <jointpos name="left_knee_pos" joint="left_knee_joint" />
383
+ <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
384
+ <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
385
+ <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
386
+ <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
387
+ <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
388
+ <jointpos name="right_knee_pos" joint="right_knee_joint" />
389
+ <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
390
+ <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
391
+ <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
392
+ <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
393
+ <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
394
+ <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
395
+ <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
396
+ <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
397
+ <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
398
+ <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
399
+ <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
400
+ <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
401
+ <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
402
+ <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
403
+ <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
404
+ <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
405
+ <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
406
+ <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
407
+ <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
408
+
409
+ <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
410
+ <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
411
+ <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
412
+ <jointvel name="left_knee_vel" joint="left_knee_joint" />
413
+ <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
414
+ <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
415
+ <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
416
+ <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
417
+ <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
418
+ <jointvel name="right_knee_vel" joint="right_knee_joint" />
419
+ <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
420
+ <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
421
+ <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
422
+ <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
423
+ <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
424
+ <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
425
+ <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
426
+ <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
427
+ <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
428
+ <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
429
+ <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
430
+ <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
431
+ <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
432
+ <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
433
+ <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
434
+ <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
435
+ <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
436
+ <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
437
+ <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
438
+
439
+ <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
440
+ <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
441
+ <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
442
+ <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
443
+ <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
444
+ <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
445
+ <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
446
+ <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
447
+ <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
448
+ <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
449
+ <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
450
+ <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
451
+ <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
452
+ <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
453
+ <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
454
+ <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
455
+ <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
456
+ <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
457
+ <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
458
+ <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
459
+ <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
460
+ <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
461
+ <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
462
+ <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
463
+ <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
464
+ <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
465
+ <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
466
+ <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
467
+ <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
468
+
469
+ <framequat name="imu_quat" objtype="site" objname="imu" />
470
+ <gyro name="imu_gyro" site="imu" />
471
+ <accelerometer name="imu_acc" site="imu" />
472
+
473
+ <framepos name="frame_pos" objtype="site" objname="imu" />
474
+ <framelinvel name="frame_vel" objtype="site" objname="imu" />
475
+ </sensor>
476
+
477
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof.xml ADDED
@@ -0,0 +1,296 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof">
2
+ <compiler angle="radian" meshdir="meshes"/>
3
+
4
+ <asset>
5
+ <mesh name="pelvis" file="pelvis.STL"/>
6
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
7
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
8
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
9
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
10
+ <mesh name="left_knee_link" file="left_knee_link.STL"/>
11
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
12
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
13
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
14
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
15
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
16
+ <mesh name="right_knee_link" file="right_knee_link.STL"/>
17
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
18
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
19
+ <mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
20
+ <mesh name="waist_roll_link" file="waist_roll_link.STL"/>
21
+ <mesh name="torso_link" file="torso_link.STL"/>
22
+ <mesh name="logo_link" file="logo_link.STL"/>
23
+ <mesh name="head_link" file="head_link.STL"/>
24
+ <mesh name="waist_support_link" file="waist_support_link.STL"/>
25
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
26
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
27
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
28
+ <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
29
+ <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
30
+ <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
31
+ <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
32
+ <mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
33
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
34
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
35
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
36
+ <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
37
+ <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
38
+ <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
39
+ <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
40
+ <mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
41
+ </asset>
42
+
43
+ <worldbody>
44
+ <body name="pelvis" pos="0 0 0.793">
45
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
46
+ <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
47
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
48
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
49
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
50
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
51
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
52
+ <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
53
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
54
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
55
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
56
+ <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"/>
57
+ <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
58
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
59
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
60
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
61
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
62
+ <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
63
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
64
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
65
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
66
+ <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
67
+ <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
68
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
69
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
70
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
71
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
72
+ <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
73
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
74
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
75
+ <body name="left_ankle_roll_link" pos="0 0 -0.017558">
76
+ <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
77
+ <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
78
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
79
+ <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
80
+ <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
81
+ <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
82
+ <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
83
+ </body>
84
+ </body>
85
+ </body>
86
+ </body>
87
+ </body>
88
+ </body>
89
+ <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
90
+ <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
91
+ <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
92
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
93
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
94
+ <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
95
+ <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"/>
96
+ <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
97
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
98
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
99
+ <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
100
+ <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
101
+ <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
102
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
103
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
104
+ <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
105
+ <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
106
+ <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
107
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
108
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
109
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
110
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
111
+ <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
112
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
113
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
114
+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
115
+ <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
116
+ <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
117
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
118
+ <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
119
+ <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
120
+ <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
121
+ <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
122
+ </body>
123
+ </body>
124
+ </body>
125
+ </body>
126
+ </body>
127
+ </body>
128
+ <body name="waist_yaw_link">
129
+ <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
130
+ <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
131
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
132
+ <body name="waist_roll_link" pos="-0.0039635 0 0.035">
133
+ <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
134
+ <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
135
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
136
+ <body name="torso_link" pos="0 0 0.019">
137
+ <inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
138
+ <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
139
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
140
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
141
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
142
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
143
+ <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
144
+ <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
145
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
146
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
147
+ <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
148
+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
149
+ <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
150
+ <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
151
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
152
+ <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
153
+ <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
154
+ <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
155
+ <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
156
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
157
+ <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
158
+ <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
159
+ <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
160
+ <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
161
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
162
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
163
+ <body name="left_elbow_link" pos="0.015783 0 -0.080518">
164
+ <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
165
+ <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
166
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
167
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
168
+ <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
169
+ <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
170
+ <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
171
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
172
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
173
+ <body name="left_wrist_pitch_link" pos="0.038 0 0">
174
+ <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
175
+ <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
176
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
177
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
178
+ <body name="left_wrist_yaw_link" pos="0.046 0 0">
179
+ <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
180
+ <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
181
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
182
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
183
+ <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
184
+ <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
185
+ </body>
186
+ </body>
187
+ </body>
188
+ </body>
189
+ </body>
190
+ </body>
191
+ </body>
192
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
193
+ <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
194
+ <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
195
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
196
+ <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
197
+ <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
198
+ <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
199
+ <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
200
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
201
+ <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
202
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
203
+ <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
204
+ <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
205
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
206
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
207
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
208
+ <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
209
+ <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
210
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
211
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
212
+ <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
213
+ <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
214
+ <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
215
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
216
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
217
+ <body name="right_wrist_pitch_link" pos="0.038 0 0">
218
+ <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
219
+ <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
220
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
221
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
222
+ <body name="right_wrist_yaw_link" pos="0.046 0 0">
223
+ <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
224
+ <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
225
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
226
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
227
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
228
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
229
+ </body>
230
+ </body>
231
+ </body>
232
+ </body>
233
+ </body>
234
+ </body>
235
+ </body>
236
+ </body>
237
+ </body>
238
+ </body>
239
+ </body>
240
+ </worldbody>
241
+
242
+ <actuator>
243
+ <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
244
+ <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
245
+ <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
246
+ <motor name="left_knee_joint" joint="left_knee_joint"/>
247
+ <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
248
+ <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
249
+ <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
250
+ <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
251
+ <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
252
+ <motor name="right_knee_joint" joint="right_knee_joint"/>
253
+ <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
254
+ <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
255
+ <motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
256
+ <motor name="waist_roll_joint" joint="waist_roll_joint"/>
257
+ <motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
258
+ <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
259
+ <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
260
+ <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
261
+ <motor name="left_elbow_joint" joint="left_elbow_joint"/>
262
+ <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
263
+ <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
264
+ <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
265
+ <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
266
+ <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
267
+ <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
268
+ <motor name="right_elbow_joint" joint="right_elbow_joint"/>
269
+ <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
270
+ <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
271
+ <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
272
+ </actuator>
273
+
274
+ <sensor>
275
+ <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
276
+ <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
277
+ </sensor>
278
+
279
+
280
+ <!-- setup scene -->
281
+ <statistic center="1.0 0.7 1.0" extent="0.8"/>
282
+ <visual>
283
+ <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
284
+ <rgba haze="0.15 0.25 0.35 1"/>
285
+ <global azimuth="-140" elevation="-20"/>
286
+ </visual>
287
+ <asset>
288
+ <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
289
+ <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
290
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
291
+ </asset>
292
+ <worldbody>
293
+ <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
294
+ <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
295
+ </worldbody>
296
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof_old.xml ADDED
@@ -0,0 +1,521 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof">
2
+ <compiler angle="radian" meshdir="meshes" />
3
+
4
+ <default>
5
+ <default class="torso_motor">
6
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
7
+ </default>
8
+ <default class="leg_motor">
9
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
10
+ </default>
11
+ <default class="ankle_motor">
12
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
13
+ </default>
14
+ <default class="arm_motor">
15
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
16
+ </default>
17
+ <default class="wrist_motor">
18
+ <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
19
+ </default>
20
+
21
+ </default>
22
+
23
+ <asset>
24
+ <mesh name="pelvis" file="pelvis.STL" />
25
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
26
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
27
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
28
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
29
+ <mesh name="left_knee_link" file="left_knee_link.STL" />
30
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
31
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
32
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
33
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
34
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
35
+ <mesh name="right_knee_link" file="right_knee_link.STL" />
36
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
37
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
38
+ <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
39
+ <mesh name="waist_roll_link" file="waist_roll_link.STL" />
40
+ <mesh name="torso_link" file="torso_link.STL" />
41
+ <mesh name="logo_link" file="logo_link.STL" />
42
+ <mesh name="head_link" file="head_link.STL" />
43
+ <mesh name="waist_support_link" file="waist_support_link.STL" />
44
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
45
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
46
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
47
+ <mesh name="left_elbow_link" file="left_elbow_link.STL" />
48
+ <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
49
+ <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
50
+ <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
51
+ <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
52
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
53
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
54
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
55
+ <mesh name="right_elbow_link" file="right_elbow_link.STL" />
56
+ <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
57
+ <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
58
+ <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
59
+ <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
60
+ </asset>
61
+
62
+ <worldbody>
63
+ <body name="pelvis" pos="0 0 0.793">
64
+ <site name="imu" size="0.01" pos="0.0 0.0 0.0" />
65
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
66
+ diaginertia="0.010549 0.0093089 0.0079184" />
67
+ <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
68
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
69
+ mesh="pelvis" />
70
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
71
+ mesh="pelvis_contour_link" />
72
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
73
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
74
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
75
+ mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
76
+ <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
77
+ actuatorfrcrange="-88 88" class="leg_motor" />
78
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
79
+ mesh="left_hip_pitch_link" />
80
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
81
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
82
+ <inertial pos="0.029812 -0.001045 -0.087934"
83
+ quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
84
+ diaginertia="0.00254986 0.00241169 0.00148755" />
85
+ <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
86
+ actuatorfrcrange="-88 88" class="leg_motor" />
87
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
88
+ mesh="left_hip_roll_link" />
89
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
90
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
91
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
92
+ mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
93
+ <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
94
+ actuatorfrcrange="-88 88" class="leg_motor" />
95
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
96
+ mesh="left_hip_yaw_link" />
97
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
98
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
99
+ quat="0.996179 0 0.0873386 0">
100
+ <inertial pos="0.005457 0.003964 -0.12074"
101
+ quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
102
+ diaginertia="0.0113804 0.0112778 0.00146458" />
103
+ <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
104
+ actuatorfrcrange="-139 139" class="leg_motor" />
105
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
106
+ rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
107
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
108
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
109
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
110
+ mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
111
+ <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
112
+ range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor"/>
113
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
114
+ rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
115
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
116
+ <body name="left_ankle_roll_link" pos="0 0 -0.017558">
117
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118
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119
+ diaginertia="0.00167218 0.0016161 0.000217621" />
120
+ <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
121
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor"/>
122
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
124
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125
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127
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128
+ </body>
129
+ </body>
130
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131
+ </body>
132
+ </body>
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136
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137
+ <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
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+ actuatorfrcrange="-88 88" class="leg_motor" />
139
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
140
+ mesh="right_hip_pitch_link" />
141
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
142
+ <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
143
+ <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
144
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145
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147
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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+ mesh="right_hip_roll_link" />
149
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
150
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152
+ mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
153
+ <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
154
+ actuatorfrcrange="-88 88" class="leg_motor" />
155
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
156
+ mesh="right_hip_yaw_link" />
157
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
158
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162
+ diaginertia="0.011374 0.0112843 0.00146452" />
163
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164
+ actuatorfrcrange="-139 139" class="leg_motor" />
165
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
166
+ rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
167
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
168
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
169
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170
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171
+ <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
172
+ range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
173
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
174
+ rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
175
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
176
+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
177
+ <inertial pos="0.026505 0 -0.016425"
178
+ quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
179
+ diaginertia="0.00167218 0.0016161 0.000217621" />
180
+ <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
181
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
182
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
183
+ rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
184
+ <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
185
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187
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188
+ </body>
189
+ </body>
190
+ </body>
191
+ </body>
192
+ </body>
193
+ </body>
194
+ <body name="waist_yaw_link">
195
+ <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121"
196
+ mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
197
+ <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
198
+ actuatorfrcrange="-88 88" class="torso_motor"/>
199
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
200
+ mesh="waist_yaw_link" />
201
+ <body name="waist_roll_link" pos="-0.0039635 0 0.035">
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+ <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047"
203
+ diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
204
+ <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
205
+ actuatorfrcrange="-50 50" class="torso_motor"/>
206
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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+ mesh="waist_roll_link" />
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+ quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598"
211
+ diaginertia="0.12407 0.111951 0.0325382" />
212
+ <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
213
+ actuatorfrcrange="-50 50" class="torso_motor"/>
214
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
215
+ mesh="torso_link" />
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+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
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219
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220
+ mesh="logo_link" />
221
+ <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1"
222
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224
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225
+ group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
226
+ <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
227
+ mesh="waist_support_link" />
228
+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
229
+ quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
230
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231
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232
+ <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
233
+ range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
234
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
236
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237
+ type="cylinder" rgba="0.7 0.7 0.7 1" />
238
+ <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
239
+ quat="0.990268 -0.139172 0 0">
240
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242
+ diaginertia="0.000691311 0.000618011 0.000388977" />
243
+ <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
244
+ range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
245
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
246
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247
+ <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
248
+ rgba="0.7 0.7 0.7 1" />
249
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250
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252
+ diaginertia="0.00106187 0.00103217 0.000400661" />
253
+ <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
254
+ range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
255
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
256
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257
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
258
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259
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262
+ <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
263
+ actuatorfrcrange="-25 25" class="arm_motor" />
264
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
266
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
267
+ <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
268
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269
+ quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
270
+ diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
271
+ <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
272
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
273
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
274
+ rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
275
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
276
+ <body name="left_wrist_pitch_link" pos="0.038 0 0">
277
+ <inertial pos="0.0229999 -0.00111685 -0.00111658"
278
+ quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
279
+ diaginertia="0.000430353 0.000429873 0.000164648" />
280
+ <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
281
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
282
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
283
+ rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
284
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
285
+ <body name="left_wrist_yaw_link" pos="0.046 0 0">
286
+ <inertial pos="0.0708244 0.000191745 0.00161742"
287
+ quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576"
288
+ diaginertia="0.000646113 0.000559993 0.000147566" />
289
+ <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
290
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
291
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
292
+ rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
293
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
294
+ <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0"
295
+ conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
296
+ mesh="left_rubber_hand" />
297
+ </body>
298
+ </body>
299
+ </body>
300
+ </body>
301
+ </body>
302
+ </body>
303
+ </body>
304
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
305
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306
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307
+ mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
308
+ <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
309
+ range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
310
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
311
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
312
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313
+ type="cylinder" rgba="0.7 0.7 0.7 1" />
314
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315
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316
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318
+ diaginertia="0.000691311 0.000618011 0.000388977" />
319
+ <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
320
+ range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
321
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
322
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
323
+ <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
324
+ rgba="0.7 0.7 0.7 1" />
325
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
326
+ <inertial pos="0.010773 0.002949 -0.072009"
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328
+ diaginertia="0.00106187 0.00103217 0.000400661" />
329
+ <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
330
+ range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
331
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
332
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
333
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
334
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
335
+ <inertial pos="0.064956 -0.004454 -0.010062"
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+ quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
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+ diaginertia="0.000443035 0.000421612 0.000259353" />
338
+ <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
339
+ actuatorfrcrange="-25 25" class="arm_motor" />
340
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
341
+ rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
342
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
343
+ <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
344
+ <inertial pos="0.0171394 -0.000537591 4.8864e-07"
345
+ quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
346
+ diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
347
+ <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
348
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
349
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
350
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
351
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
352
+ <body name="right_wrist_pitch_link" pos="0.038 0 0">
353
+ <inertial pos="0.0229999 0.00111685 -0.00111658"
354
+ quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
355
+ diaginertia="0.000430353 0.000429873 0.000164648" />
356
+ <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
357
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
358
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
359
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
360
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
361
+ <body name="right_wrist_yaw_link" pos="0.046 0 0">
362
+ <inertial pos="0.0708244 -0.000191745 0.00161742"
363
+ quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576"
364
+ diaginertia="0.000646113 0.000559993 0.000147566" />
365
+ <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
366
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
367
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
368
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
369
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
370
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0"
371
+ conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
372
+ mesh="right_rubber_hand" />
373
+ </body>
374
+ </body>
375
+ </body>
376
+ </body>
377
+ </body>
378
+ </body>
379
+ </body>
380
+ </body>
381
+ </body>
382
+ </body>
383
+ </body>
384
+ </worldbody>
385
+
386
+ <actuator>
387
+ <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
388
+ <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
389
+ <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
390
+ <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
391
+ <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
392
+ <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
393
+
394
+ <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
395
+ <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
396
+ <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
397
+ <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
398
+ <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
399
+ <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
400
+
401
+ <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
402
+ <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
403
+ <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
404
+
405
+ <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
406
+ <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
407
+ <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
408
+ <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
409
+ <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
410
+ <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
411
+ <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
412
+
413
+ <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
414
+ <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
415
+ <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
416
+ <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
417
+ <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
418
+ <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
419
+ <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
420
+ </actuator>
421
+
422
+ <sensor>
423
+ <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
424
+ <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
425
+ <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
426
+ <jointpos name="left_knee_pos" joint="left_knee_joint" />
427
+ <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
428
+ <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
429
+ <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
430
+ <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
431
+ <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
432
+ <jointpos name="right_knee_pos" joint="right_knee_joint" />
433
+ <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
434
+ <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
435
+ <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
436
+ <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
437
+ <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
438
+ <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
439
+ <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
440
+ <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
441
+ <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
442
+ <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
443
+ <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
444
+ <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
445
+ <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
446
+ <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
447
+ <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
448
+ <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
449
+ <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
450
+ <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
451
+ <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
452
+
453
+ <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
454
+ <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
455
+ <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
456
+ <jointvel name="left_knee_vel" joint="left_knee_joint" />
457
+ <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
458
+ <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
459
+ <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
460
+ <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
461
+ <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
462
+ <jointvel name="right_knee_vel" joint="right_knee_joint" />
463
+ <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
464
+ <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
465
+ <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
466
+ <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
467
+ <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
468
+ <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
469
+ <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
470
+ <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
471
+ <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
472
+ <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
473
+ <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
474
+ <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
475
+ <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
476
+ <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
477
+ <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
478
+ <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
479
+ <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
480
+ <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
481
+ <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
482
+
483
+ <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
484
+ <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
485
+ <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
486
+ <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
487
+ <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
488
+ <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
489
+ <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
490
+ <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
491
+ <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
492
+ <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
493
+ <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
494
+ <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
495
+ <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
496
+ <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
497
+ <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
498
+ <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
499
+ <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
500
+ <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
501
+ <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
502
+ <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
503
+ <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
504
+ <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
505
+ <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
506
+ <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
507
+ <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
508
+ <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
509
+ <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
510
+ <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
511
+ <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
512
+
513
+ <framequat name="imu_quat" objtype="site" objname="imu" />
514
+ <gyro name="imu_gyro" site="imu" />
515
+ <accelerometer name="imu_acc" site="imu" />
516
+
517
+ <framepos name="frame_pos" objtype="site" objname="imu" />
518
+ <framelinvel name="frame_vel" objtype="site" objname="imu" />
519
+ </sensor>
520
+
521
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/g1_29dof_with_hand.xml ADDED
@@ -0,0 +1,743 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof_with_hand">
2
+ <compiler angle="radian" meshdir="meshes" />
3
+
4
+ <default>
5
+ <default class="torso_motor">
6
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
7
+ </default>
8
+ <default class="leg_motor">
9
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
10
+ </default>
11
+ <default class="ankle_motor">
12
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
13
+ </default>
14
+ <default class="arm_motor">
15
+ <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
16
+ </default>
17
+ <default class="wrist_motor">
18
+ <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
19
+ </default>
20
+ <default class="hand_motor">
21
+ <joint damping="0.01" armature="0.01" frictionloss="0.1"/>
22
+ </default>
23
+ </default>
24
+ <asset>
25
+ <mesh name="pelvis" file="pelvis.STL" />
26
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
27
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
28
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
29
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
30
+ <mesh name="left_knee_link" file="left_knee_link.STL" />
31
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
32
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
33
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
34
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
35
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
36
+ <mesh name="right_knee_link" file="right_knee_link.STL" />
37
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
38
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
39
+ <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
40
+ <mesh name="waist_roll_link" file="waist_roll_link.STL" />
41
+ <mesh name="torso_link" file="torso_link.STL" />
42
+ <mesh name="logo_link" file="logo_link.STL" />
43
+ <mesh name="head_link" file="head_link.STL" />
44
+ <mesh name="waist_support_link" file="waist_support_link.STL" />
45
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
46
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
47
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
48
+ <mesh name="left_elbow_link" file="left_elbow_link.STL" />
49
+ <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
50
+ <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
51
+ <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
52
+ <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL" />
53
+ <mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL" />
54
+ <mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL" />
55
+ <mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL" />
56
+ <mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL" />
57
+ <mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL" />
58
+ <mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL" />
59
+ <mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL" />
60
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
61
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
62
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
63
+ <mesh name="right_elbow_link" file="right_elbow_link.STL" />
64
+ <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
65
+ <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
66
+ <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
67
+ <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL" />
68
+ <mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL" />
69
+ <mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL" />
70
+ <mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL" />
71
+ <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL" />
72
+ <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL" />
73
+ <mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL" />
74
+ <mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL" />
75
+ </asset>
76
+
77
+ <worldbody>
78
+ <body name="pelvis" pos="0 0 0.793">
79
+ <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
80
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
81
+ diaginertia="0.010549 0.0093089 0.0079184" />
82
+ <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
83
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
84
+ mesh="pelvis" />
85
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
86
+ mesh="pelvis_contour_link" />
87
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
88
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
89
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
90
+ mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
91
+ <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
92
+ actuatorfrcrange="-88 88" class="leg_motor" />
93
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
94
+ mesh="left_hip_pitch_link" />
95
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
96
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
97
+ <inertial pos="0.029812 -0.001045 -0.087934"
98
+ quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
99
+ diaginertia="0.00254986 0.00241169 0.00148755" />
100
+ <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
101
+ actuatorfrcrange="-88 88" class="leg_motor" />
102
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
103
+ mesh="left_hip_roll_link" />
104
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
105
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
106
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
107
+ mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
108
+ <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
109
+ actuatorfrcrange="-88 88" class="leg_motor" />
110
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
111
+ mesh="left_hip_yaw_link" />
112
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
113
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
114
+ quat="0.996179 0 0.0873386 0">
115
+ <inertial pos="0.005457 0.003964 -0.12074"
116
+ quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
117
+ diaginertia="0.0113804 0.0112778 0.00146458" />
118
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119
+ actuatorfrcrange="-139 139" class="leg_motor" />
120
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
121
+ rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
122
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
123
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
124
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125
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126
+ <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
127
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128
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
129
+ rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
130
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
131
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132
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133
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134
+ diaginertia="0.00167218 0.0016161 0.000217621" />
135
+ <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
136
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
137
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
138
+ rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
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142
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143
+ </body>
144
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146
+ </body>
147
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149
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152
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154
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
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+ mesh="right_hip_pitch_link" />
156
+ <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
157
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158
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160
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162
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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+ mesh="right_hip_roll_link" />
164
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
165
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167
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170
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171
+ mesh="right_hip_yaw_link" />
172
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
173
+ <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
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177
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178
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179
+ actuatorfrcrange="-139 139" class="leg_motor" />
180
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
182
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
183
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
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185
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186
+ <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
187
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188
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
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+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
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194
+ diaginertia="0.00167218 0.0016161 0.000217621" />
195
+ <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
196
+ range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
197
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
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203
+ </body>
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+ </body>
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+ <body name="waist_yaw_link">
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211
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+ <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
213
+ actuatorfrcrange="-88 88" class="torso_motor" />
214
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
215
+ mesh="waist_yaw_link" />
216
+ <body name="waist_roll_link" pos="-0.0039635 0 0.035">
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218
+ diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
219
+ <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
220
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221
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226
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227
+ <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
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+ actuatorfrcrange="-50 50" class="torso_motor"/>
229
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233
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235
+ mesh="logo_link" />
236
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239
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240
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241
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242
+ mesh="waist_support_link" />
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+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
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247
+ <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
248
+ range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
249
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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+ type="cylinder" rgba="0.7 0.7 0.7 1" />
253
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254
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255
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258
+ <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
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+ range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
260
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
261
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262
+ <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
263
+ rgba="0.7 0.7 0.7 1" />
264
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267
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268
+ <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
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+ range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
270
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272
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
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277
+ <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
278
+ actuatorfrcrange="-25 25" class="arm_motor" />
279
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
280
+ rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
281
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
282
+ <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
283
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285
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286
+ <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
287
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
288
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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290
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
291
+ <body name="left_wrist_pitch_link" pos="0.038 0 0">
292
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294
+ diaginertia="0.000430353 0.000429873 0.000164648" />
295
+ <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
296
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
297
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
298
+ rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
299
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
300
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301
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304
+ <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
305
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
306
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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308
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310
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311
+ mesh="left_hand_palm_link" />
312
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313
+ mesh="left_hand_palm_link" />
314
+ <body name="left_hand_thumb_0_link" pos="0.0695 0.003 0">
315
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316
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317
+ diaginertia="1.39245e-05 1.32309e-05 1.19138e-05" />
318
+ <joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
319
+ range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45" class="hand_motor" />
320
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
321
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322
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link" />
323
+ <body name="left_hand_thumb_1_link" pos="0 -0.0246 0">
324
+ <inertial pos="0.0036206 -0.040444 -0.000297711"
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+ quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963"
326
+ diaginertia="1.23865e-05 1.2092e-05 5.00561e-06" />
327
+ <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
328
+ range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
329
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
330
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331
+ <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box"
332
+ rgba="0.7 0.7 0.7 1" />
333
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334
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336
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
337
+ <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
338
+ range="0 2.0944" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
339
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
340
+ rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
341
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
342
+ </body>
343
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344
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345
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346
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348
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349
+ <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
350
+ range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
351
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
352
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353
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link" />
354
+ <body name="left_hand_middle_1_link" pos="0.0528 -0.0055 0">
355
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357
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
358
+ <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
359
+ range="-2.0944 0" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
360
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361
+ rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
362
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
363
+ </body>
364
+ </body>
365
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366
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367
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368
+ diaginertia="1.23865e-05 1.2092e-05 5.00561e-06" />
369
+ <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
370
+ range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
371
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372
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373
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link" />
374
+ <body name="left_hand_index_1_link" pos="0.0528 -0.0055 0">
375
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376
+ quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731"
377
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
378
+ <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
379
+ range="-2.0944 0" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
380
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
381
+ rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
382
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
383
+ </body>
384
+ </body>
385
+ </body>
386
+ </body>
387
+ </body>
388
+ </body>
389
+ </body>
390
+ </body>
391
+ </body>
392
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
393
+ quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
394
+ <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
395
+ mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
396
+ <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
397
+ range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
398
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
399
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
400
+ <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0"
401
+ type="cylinder" rgba="0.7 0.7 0.7 1" />
402
+ <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
403
+ quat="0.990268 0.139172 0 0">
404
+ <inertial pos="-0.000227 -0.00727 -0.063243"
405
+ quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
406
+ diaginertia="0.000691311 0.000618011 0.000388977" />
407
+ <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
408
+ range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
409
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
410
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
411
+ <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
412
+ rgba="0.7 0.7 0.7 1" />
413
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
414
+ <inertial pos="0.010773 0.002949 -0.072009"
415
+ quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
416
+ diaginertia="0.00106187 0.00103217 0.000400661" />
417
+ <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
418
+ range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
419
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
420
+ rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
421
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
422
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
423
+ <inertial pos="0.064956 -0.004454 -0.010062"
424
+ quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
425
+ diaginertia="0.000443035 0.000421612 0.000259353" />
426
+ <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
427
+ actuatorfrcrange="-25 25" class="arm_motor" />
428
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
429
+ rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
430
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
431
+ <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
432
+ <inertial pos="0.0171394 -0.000537591 4.8864e-07"
433
+ quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
434
+ diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
435
+ <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
436
+ range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
437
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
438
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
439
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
440
+ <body name="right_wrist_pitch_link" pos="0.038 0 0">
441
+ <inertial pos="0.0229999 0.00111685 -0.00111658"
442
+ quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
443
+ diaginertia="0.000430353 0.000429873 0.000164648" />
444
+ <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
445
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
446
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
447
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
448
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
449
+ <body name="right_wrist_yaw_link" pos="0.046 0 0">
450
+ <inertial pos="0.0885506 -0.00212216 0.000573742"
451
+ quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415"
452
+ diaginertia="0.0010598 0.000895373 0.0003238" />
453
+ <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
454
+ range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
455
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
456
+ rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
457
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
458
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0"
459
+ conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
460
+ mesh="right_hand_palm_link" />
461
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh"
462
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link" />
463
+ <body name="right_hand_thumb_0_link" pos="0.0695 -0.003 0">
464
+ <inertial pos="-0.000354413 0.0132989 -0.000412362"
465
+ quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302"
466
+ diaginertia="1.39245e-05 1.32309e-05 1.19138e-05" />
467
+ <joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
468
+ range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45" class="hand_motor" />
469
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
470
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
471
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
472
+ <body name="right_hand_thumb_1_link" pos="0 0.0246 0">
473
+ <inertial pos="0.0036206 0.040444 0.000297711"
474
+ quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963"
475
+ diaginertia="1.23865e-05 1.2092e-05 5.00561e-06" />
476
+ <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
477
+ range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
478
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
479
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link" />
480
+ <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box"
481
+ rgba="0.7 0.7 0.7 1" />
482
+ <body name="right_hand_thumb_2_link" pos="0.0055 0.0528 0">
483
+ <inertial pos="-0.00081406 0.0345621 -0.000129799"
484
+ quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731"
485
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
486
+ <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
487
+ range="-2.0944 0" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
488
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
489
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link" />
490
+ <geom type="mesh" rgba="0.7 0.7 0.7 1"
491
+ mesh="right_hand_thumb_2_link" />
492
+ </body>
493
+ </body>
494
+ </body>
495
+ <body name="right_hand_index_0_link" pos="0.1415 -0.0013 0.0285">
496
+ <inertial pos="0.040444 0.0036206 -0.000287711"
497
+ quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963"
498
+ diaginertia="1.23865e-05 1.2092e-05 5.00561e-06" />
499
+ <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
500
+ range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
501
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
502
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
503
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
504
+ <body name="right_hand_index_1_link" pos="0.0528 0.0055 0">
505
+ <inertial pos="0.0345621 -0.00081406 0.000129799"
506
+ quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731"
507
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
508
+ <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
509
+ range="0 2.0944" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
510
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
511
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
512
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
513
+ </body>
514
+ </body>
515
+ <body name="right_hand_middle_0_link" pos="0.1415 -0.0013 -0.0285">
516
+ <inertial pos="0.040444 0.0036206 -0.000287711"
517
+ quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963"
518
+ diaginertia="1.23865e-05 1.2092e-05 5.00561e-06" />
519
+ <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
520
+ range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
521
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
522
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
523
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
524
+ <body name="right_hand_middle_1_link" pos="0.0528 0.0055 0">
525
+ <inertial pos="0.0345621 -0.00081406 0.000129799"
526
+ quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731"
527
+ diaginertia="8.60616e-06 7.69097e-06 1.98043e-06" />
528
+ <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
529
+ range="0 2.0944" actuatorfrcrange="-0.7 0.7" class="hand_motor" />
530
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
531
+ rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
532
+ <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
533
+ </body>
534
+ </body>
535
+ </body>
536
+ </body>
537
+ </body>
538
+ </body>
539
+ </body>
540
+ </body>
541
+ </body>
542
+ </body>
543
+ </body>
544
+ </body>
545
+ </body>
546
+ </worldbody>
547
+
548
+ <actuator>
549
+ <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
550
+ <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
551
+ <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
552
+ <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
553
+ <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
554
+ <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
555
+
556
+ <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
557
+ <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
558
+ <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
559
+ <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
560
+ <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
561
+ <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
562
+
563
+ <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
564
+ <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
565
+ <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
566
+
567
+ <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
568
+ <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
569
+ <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
570
+ <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
571
+ <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
572
+ <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
573
+ <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
574
+
575
+ <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
576
+ <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
577
+ <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
578
+ <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
579
+ <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
580
+ <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
581
+ <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
582
+
583
+ <motor name="left_hand_thumb_0" joint="left_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
584
+ <motor name="left_hand_thumb_1" joint="left_hand_thumb_1_joint" ctrlrange="-0.7 0.7" />
585
+ <motor name="left_hand_thumb_2" joint="left_hand_thumb_2_joint" ctrlrange="-0.7 0.7" />
586
+ <motor name="left_hand_middle_0" joint="left_hand_middle_0_joint" ctrlrange="-0.7 0.7" />
587
+ <motor name="left_hand_middle_1" joint="left_hand_middle_1_joint" ctrlrange="-0.7 0.7" />
588
+ <motor name="left_hand_index_0" joint="left_hand_index_0_joint" ctrlrange="-0.7 0.7" />
589
+ <motor name="left_hand_index_1" joint="left_hand_index_1_joint" ctrlrange="-0.7 0.7" />
590
+
591
+ <motor name="right_hand_thumb_0" joint="right_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
592
+ <motor name="right_hand_thumb_1" joint="right_hand_thumb_1_joint" ctrlrange="-0.7 0.7" />
593
+ <motor name="right_hand_thumb_2" joint="right_hand_thumb_2_joint" ctrlrange="-0.7 0.7" />
594
+ <motor name="right_hand_index_0" joint="right_hand_index_0_joint" ctrlrange="-0.7 0.7" />
595
+ <motor name="right_hand_index_1" joint="right_hand_index_1_joint" ctrlrange="-0.7 0.7" />
596
+ <motor name="right_hand_middle_0" joint="right_hand_middle_0_joint" ctrlrange="-0.7 0.7" />
597
+ <motor name="right_hand_middle_1" joint="right_hand_middle_1_joint" ctrlrange="-0.7 0.7" />
598
+ </actuator>
599
+
600
+ <sensor>
601
+ <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
602
+ <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
603
+ <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
604
+ <jointpos name="left_knee_pos" joint="left_knee_joint" />
605
+ <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
606
+ <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
607
+ <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
608
+ <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
609
+ <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
610
+ <jointpos name="right_knee_pos" joint="right_knee_joint" />
611
+ <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
612
+ <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
613
+ <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
614
+ <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
615
+ <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
616
+ <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
617
+ <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
618
+ <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
619
+ <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
620
+ <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
621
+ <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
622
+ <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
623
+ <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
624
+ <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
625
+ <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
626
+ <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
627
+ <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
628
+ <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
629
+ <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
630
+
631
+ <jointpos name="left_hand_thumb_0_pos" joint="left_hand_thumb_0_joint" />
632
+ <jointpos name="left_hand_thumb_1_pos" joint="left_hand_thumb_1_joint" />
633
+ <jointpos name="left_hand_thumb_2_pos" joint="left_hand_thumb_2_joint" />
634
+ <jointpos name="left_hand_middle_0_pos" joint="left_hand_middle_0_joint" />
635
+ <jointpos name="left_hand_middle_1_pos" joint="left_hand_middle_1_joint" />
636
+ <jointpos name="left_hand_index_0_pos" joint="left_hand_index_0_joint" />
637
+ <jointpos name="left_hand_index_1_pos" joint="left_hand_index_1_joint" />
638
+ <jointpos name="right_hand_thumb_0_pos" joint="right_hand_thumb_0_joint" />
639
+ <jointpos name="right_hand_thumb_1_pos" joint="right_hand_thumb_1_joint" />
640
+ <jointpos name="right_hand_thumb_2_pos" joint="right_hand_thumb_2_joint" />
641
+ <jointpos name="right_hand_middle_0_pos" joint="right_hand_middle_0_joint" />
642
+ <jointpos name="right_hand_middle_1_pos" joint="right_hand_middle_1_joint" />
643
+ <jointpos name="right_hand_index_0_pos" joint="right_hand_index_0_joint" />
644
+ <jointpos name="right_hand_index_1_pos" joint="right_hand_index_1_joint" />
645
+
646
+ <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
647
+ <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
648
+ <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
649
+ <jointvel name="left_knee_vel" joint="left_knee_joint" />
650
+ <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
651
+ <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
652
+ <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
653
+ <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
654
+ <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
655
+ <jointvel name="right_knee_vel" joint="right_knee_joint" />
656
+ <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
657
+ <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
658
+ <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
659
+ <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
660
+ <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
661
+ <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
662
+ <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
663
+ <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
664
+ <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
665
+ <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
666
+ <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
667
+ <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
668
+ <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
669
+ <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
670
+ <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
671
+ <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
672
+ <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
673
+ <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
674
+ <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
675
+
676
+ <jointvel name="left_hand_thumb_0_vel" joint="left_hand_thumb_0_joint" />
677
+ <jointvel name="left_hand_thumb_1_vel" joint="left_hand_thumb_1_joint" />
678
+ <jointvel name="left_hand_thumb_2_vel" joint="left_hand_thumb_2_joint" />
679
+ <jointvel name="left_hand_middle_0_vel" joint="left_hand_middle_0_joint" />
680
+ <jointvel name="left_hand_middle_1_vel" joint="left_hand_middle_1_joint" />
681
+ <jointvel name="left_hand_index_0_vel" joint="left_hand_index_0_joint" />
682
+ <jointvel name="left_hand_index_1_vel" joint="left_hand_index_1_joint" />
683
+ <jointvel name="right_hand_thumb_0_vel" joint="right_hand_thumb_0_joint" />
684
+ <jointvel name="right_hand_thumb_1_vel" joint="right_hand_thumb_1_joint" />
685
+ <jointvel name="right_hand_thumb_2_vel" joint="right_hand_thumb_2_joint" />
686
+ <jointvel name="right_hand_middle_0_vel" joint="right_hand_middle_0_joint" />
687
+ <jointvel name="right_hand_middle_1_vel" joint="right_hand_middle_1_joint" />
688
+ <jointvel name="right_hand_index_0_vel" joint="right_hand_index_0_joint" />
689
+ <jointvel name="right_hand_index_1_vel" joint="right_hand_index_1_joint" />
690
+
691
+ <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
692
+ <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
693
+ <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
694
+ <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
695
+ <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
696
+ <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
697
+ <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
698
+ <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
699
+ <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
700
+ <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
701
+ <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
702
+ <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
703
+ <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
704
+ <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
705
+ <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
706
+ <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
707
+ <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
708
+ <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
709
+ <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
710
+ <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
711
+ <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
712
+ <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
713
+ <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
714
+ <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
715
+ <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
716
+ <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
717
+ <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
718
+ <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
719
+ <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
720
+
721
+ <jointactuatorfrc name="left_hand_thumb_0_torque" joint="left_hand_thumb_0_joint" />
722
+ <jointactuatorfrc name="left_hand_thumb_1_torque" joint="left_hand_thumb_1_joint" />
723
+ <jointactuatorfrc name="left_hand_thumb_2_torque" joint="left_hand_thumb_2_joint" />
724
+ <jointactuatorfrc name="left_hand_middle_0_torque" joint="left_hand_middle_0_joint" />
725
+ <jointactuatorfrc name="left_hand_middle_1_torque" joint="left_hand_middle_1_joint" />
726
+ <jointactuatorfrc name="left_hand_index_0_torque" joint="left_hand_index_0_joint" />
727
+ <jointactuatorfrc name="left_hand_index_1_torque" joint="left_hand_index_1_joint" />
728
+ <jointactuatorfrc name="right_hand_thumb_0_torque" joint="right_hand_thumb_0_joint" />
729
+ <jointactuatorfrc name="right_hand_thumb_1_torque" joint="right_hand_thumb_1_joint" />
730
+ <jointactuatorfrc name="right_hand_thumb_2_torque" joint="right_hand_thumb_2_joint" />
731
+ <jointactuatorfrc name="right_hand_middle_0_torque" joint="right_hand_middle_0_joint" />
732
+ <jointactuatorfrc name="right_hand_middle_1_torque" joint="right_hand_middle_1_joint" />
733
+ <jointactuatorfrc name="right_hand_index_0_torque" joint="right_hand_index_0_joint" />
734
+ <jointactuatorfrc name="right_hand_index_1_torque" joint="right_hand_index_1_joint" />
735
+
736
+ <framequat name="imu_quat" objtype="site" objname="imu" />
737
+ <gyro name="imu_gyro" site="imu" />
738
+ <accelerometer name="imu_acc" site="imu" />
739
+
740
+ <framepos name="frame_pos" objtype="site" objname="imu" />
741
+ <framelinvel name="frame_vel" objtype="site" objname="imu" />
742
+ </sensor>
743
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_23dof.xml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_23dof scene">
2
+ <include file="g1_23dof.xml"/>
3
+
4
+ <statistic center="0 0 0.5" extent="2.0"/>
5
+
6
+ <visual>
7
+ <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
8
+ <rgba haze="0.15 0.25 0.35 1"/>
9
+ <global azimuth="-130" elevation="-20"/>
10
+ </visual>
11
+
12
+ <asset>
13
+ <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
14
+ <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
15
+ markrgb="0.8 0.8 0.8" width="300" height="300"/>
16
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
17
+ </asset>
18
+
19
+ <worldbody>
20
+ <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
21
+ <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
22
+ </worldbody>
23
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_29dof.xml ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof scene">
2
+ <include file="g1_29dof_old.xml"/>
3
+
4
+ <statistic center="0 0 0.5" extent="2.0"/>
5
+
6
+ <visual>
7
+ <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
8
+ <rgba haze="0.15 0.25 0.35 1"/>
9
+ <global azimuth="-130" elevation="-20"/>
10
+ </visual>
11
+
12
+ <asset>
13
+ <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
14
+ <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
15
+ markrgb="0.8 0.8 0.8" width="300" height="300"/>
16
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
17
+ </asset>
18
+
19
+ <worldbody>
20
+ <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
21
+ <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
22
+ <!-- Site -->
23
+ <site name="com_marker" pos="0.1 0 0" size="0.05" rgba="1 0 0 1" type="sphere"/>
24
+ </worldbody>
25
+
26
+ <default>
27
+ <geom friction="0.5"/>
28
+ </default>
29
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_29dof_with_hand.xml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof scene">
2
+ <include file="g1_29dof_with_hand.xml"/>
3
+
4
+ <statistic center="0 0 0.5" extent="2.0"/>
5
+
6
+ <visual>
7
+ <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
8
+ <rgba haze="0.15 0.25 0.35 1"/>
9
+ <global azimuth="-130" elevation="-20"/>
10
+ </visual>
11
+
12
+ <asset>
13
+ <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
14
+ <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
15
+ markrgb="0.8 0.8 0.8" width="300" height="300"/>
16
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
17
+ </asset>
18
+
19
+ <worldbody>
20
+ <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
21
+ <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
22
+ </worldbody>
23
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/g1/scene_empty.xml ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1_29dof scene">
2
+
3
+ <statistic center="0 0 0.5" extent="2.0"/>
4
+
5
+ <visual>
6
+ <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
7
+ <rgba haze="0.15 0.25 0.35 1"/>
8
+ <global azimuth="-130" elevation="-20"/>
9
+ </visual>
10
+
11
+ <asset>
12
+ <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
13
+ <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
14
+ markrgb="0.8 0.8 0.8" width="300" height="300"/>
15
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
16
+ </asset>
17
+
18
+ <worldbody>
19
+ <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
20
+ <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
21
+ <!-- Site -->
22
+ <site name="com_marker" pos="0.1 0 0" size="0.05" rgba="1 0 0 1" type="sphere"/>
23
+ </worldbody>
24
+
25
+ <default>
26
+ <geom friction="0.5"/>
27
+ </default>
28
+ </mujoco>
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/observation_config_example.yaml ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # ===================================================================
2
+ # G1 Deploy - Observation Configuration Example
3
+ # ===================================================================
4
+ # This file demonstrates the complete observation configuration format
5
+ # This example matches the default configuration exactly
6
+ #
7
+ # Instructions:
8
+ # 1. Copy this file to create your custom configuration
9
+ # 2. Modify enabled: true/false to enable/disable observations
10
+ # 3. Reorder observations by changing their position in the list
11
+ # 4. The system automatically calculates offsets based on order
12
+ # 5. Ensure total enabled dimensions match your ONNX model input
13
+ # ===================================================================
14
+
15
+ # Observation definitions - processed in the order listed below
16
+ observations:
17
+ # ---------------------------------------------------------------
18
+ # Motion Reference Data (from loaded motion sequences)
19
+ # ---------------------------------------------------------------
20
+
21
+ - name: "motion_joint_positions"
22
+ enabled: true
23
+ # Description: Joint positions from motion reference data
24
+ # Dimension: 29 elements (one per joint)
25
+ # Units: radians
26
+ # Purpose: Provides target joint positions for the current motion frame
27
+
28
+ - name: "motion_joint_velocities"
29
+ enabled: true
30
+ # Description: Joint velocities from motion reference data
31
+ # Dimension: 29 elements (one per joint)
32
+ # Units: radians/second
33
+ # Purpose: Provides target joint velocities for the current motion frame
34
+ # Note: Only active when motion is playing (is_playing_ = true)
35
+
36
+ - name: "motion_anchor_orientation"
37
+ enabled: true
38
+ # Description: Motion anchor orientation relative to robot base
39
+ # Dimension: 6 elements (rotation matrix first 2 columns flattened)
40
+ # Units: dimensionless (rotation matrix elements)
41
+ # Purpose: Encodes relative orientation between robot and motion reference
42
+ # Calculation: Includes heading compensation and delta heading adjustments
43
+
44
+ # ---------------------------------------------------------------
45
+ # Robot State Data (from sensors and estimation)
46
+ # ---------------------------------------------------------------
47
+
48
+ - name: "base_angular_velocity"
49
+ enabled: true
50
+ # Description: Robot base angular velocity in body frame
51
+ # Dimension: 3 elements (roll, pitch, yaw rates)
52
+ # Units: radians/second
53
+ # Source: IMU sensor data
54
+ # Purpose: Provides current rotational motion of the robot base
55
+
56
+ - name: "body_joint_positions"
57
+ enabled: true
58
+ # Description: Current robot joint positions
59
+ # Dimension: 29 elements (one per joint)
60
+ # Units: radians
61
+ # Source: Joint encoders via robot low-level state
62
+ # Purpose: Current actual joint positions for feedback control
63
+
64
+ - name: "body_joint_velocities"
65
+ enabled: true
66
+ # Description: Current robot joint velocities
67
+ # Dimension: 29 elements (one per joint)
68
+ # Units: radians/second
69
+ # Source: Joint encoders via robot low-level state
70
+ # Purpose: Current actual joint velocities for feedback control
71
+
72
+ # ---------------------------------------------------------------
73
+ # Control History
74
+ # ---------------------------------------------------------------
75
+
76
+ - name: "last_actions"
77
+ enabled: true
78
+ # Description: Previous control action output
79
+ # Dimension: 29 elements (one per joint)
80
+ # Units: dimensionless (normalized action values)
81
+ # Purpose: Provides action history for temporal consistency
82
+ # Note: Helps with smooth control transitions
83
+
84
+ # ===================================================================
85
+ # Configuration Summary
86
+ # ===================================================================
87
+ #
88
+ # Default Configuration Totals:
89
+ # - motion_joint_positions: 29D (enabled) [offset: 0]
90
+ # - motion_joint_velocities: 29D (enabled) [offset: 29]
91
+ # - motion_anchor_orientation: 6D (enabled) [offset: 58]
92
+ # - base_angular_velocity: 3D (enabled) [offset: 64]
93
+ # - body_joint_positions: 29D (enabled) [offset: 67]
94
+ # - body_joint_velocities: 29D (enabled) [offset: 96]
95
+ # - last_actions: 29D (enabled) [offset: 125]
96
+ # ----------------------------------------------------------------
97
+ # Total Enabled Dimension: 154D
98
+ #
99
+ # This matches the standard G1 policy model input dimension of 154
100
+ #
101
+ # ===================================================================
102
+ # Customization Examples
103
+ # ===================================================================
104
+ #
105
+ # Example 1: Disable motion velocities (for position-only policies)
106
+ # - name: "motion_joint_velocities"
107
+ # enabled: false
108
+ #
109
+ # Example 2: Disable last actions (for non-temporal policies)
110
+ # - name: "last_actions"
111
+ # enabled: false
112
+ #
113
+ # Example 3: Minimal configuration (position-only)
114
+ # observations:
115
+ # - name: "motion_joint_positions"
116
+ # enabled: true
117
+ # - name: "body_joint_positions"
118
+ # enabled: true
119
+ # # Total: 58D (29+29)
120
+ #
121
+ # Example 4: Reorder observations (offsets calculated automatically)
122
+ # observations:
123
+ # - name: "body_joint_positions" # Will get offset: 0
124
+ # enabled: true
125
+ # - name: "motion_joint_positions" # Will get offset: 29
126
+ # enabled: true
127
+ # # Automatic offset calculation based on order
128
+ #
129
+ # Example 5: Multi-frame observations with step intervals (for temporal dynamics)
130
+ # observations:
131
+ # - name: "motion_joint_positions_5frame_step5" # 145D (29 joints * 5 frames, step=5)
132
+ # enabled: true
133
+ # - name: "motion_joint_velocities_5frame_step5" # 145D (29 joints * 5 frames, step=5)
134
+ # enabled: true
135
+ # - name: "base_angular_velocity" # 3D (current frame only)
136
+ # enabled: true
137
+ # # Total: 293D (145+145+3)
138
+ # # Captures frames at: current, current+5, current+10, current+15, current+20
139
+ #
140
+ # Example 6: Multi-frame with different step sizes
141
+ # observations:
142
+ # - name: "motion_joint_positions_5frame_step10" # 145D (step=10 for longer intervals)
143
+ # enabled: true
144
+ # # Captures frames at: current, current+10, current+20, current+30, current+40
145
+ #
146
+ # Note: Multi-frame observations capture temporal patterns by sampling
147
+ # future frames at configurable intervals (step sizes)
148
+ # If future frames exceed motion length, repeats the last frame
149
+ #
150
+ # ===================================================================
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config.yaml ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # G1 Deploy - Observation Configuration
2
+ # ====================================
3
+ # Total dimension: 436 (64+12+116+116+116+12)
4
+
5
+ observations:
6
+
7
+ - name: "token_state"
8
+ enabled: true
9
+
10
+ - name: "his_base_angular_velocity_10frame_step1"
11
+ enabled: true
12
+
13
+ - name: "his_body_joint_positions_10frame_step1"
14
+ enabled: true
15
+
16
+ - name: "his_body_joint_velocities_10frame_step1"
17
+ enabled: true
18
+
19
+ - name: "his_last_actions_10frame_step1"
20
+ enabled: true
21
+
22
+ - name: "his_gravity_dir_10frame_step1"
23
+ enabled: true
24
+
25
+ encoder:
26
+ dimension: 64
27
+ use_fp16: false
28
+ encoder_observations:
29
+ - name: "encoder_mode_4"
30
+ enabled: true
31
+ - name: "motion_joint_positions_10frame_step5"
32
+ enabled: true
33
+ - name: "motion_joint_velocities_10frame_step5"
34
+ enabled: true
35
+ - name: "motion_root_z_position_10frame_step5"
36
+ enabled: true
37
+ - name: "motion_root_z_position"
38
+ enabled: true
39
+ - name: "motion_anchor_orientation"
40
+ enabled: true
41
+ - name: "motion_anchor_orientation_10frame_step5"
42
+ enabled: true
43
+ - name: "motion_joint_positions_lowerbody_10frame_step5"
44
+ enabled: true
45
+ - name: "motion_joint_velocities_lowerbody_10frame_step5"
46
+ enabled: true
47
+ - name: "vr_3point_local_target"
48
+ enabled: true
49
+ - name: "vr_3point_local_orn_target"
50
+ enabled: true
51
+ - name: "smpl_joints_10frame_step1"
52
+ enabled: true
53
+ - name: "smpl_anchor_orientation_10frame_step1"
54
+ enabled: true
55
+ - name: "motion_joint_positions_wrists_10frame_step1"
56
+ enabled: true
57
+ encoder_modes:
58
+ - name: "g1"
59
+ mode_id: 0
60
+ required_observations:
61
+ - encoder_mode_4
62
+ - motion_joint_positions_10frame_step5
63
+ - motion_joint_velocities_10frame_step5
64
+ - motion_anchor_orientation_10frame_step5
65
+ - name: "teleop"
66
+ mode_id: 1
67
+ required_observations:
68
+ - encoder_mode_4
69
+ - motion_joint_positions_lowerbody_10frame_step5
70
+ - motion_joint_velocities_lowerbody_10frame_step5
71
+ - vr_3point_local_target
72
+ - vr_3point_local_orn_target
73
+ - motion_anchor_orientation
74
+ - name: "smpl"
75
+ mode_id: 2
76
+ required_observations:
77
+ - encoder_mode_4
78
+ - smpl_joints_10frame_step1
79
+ - smpl_anchor_orientation_10frame_step1
80
+ - motion_joint_positions_wrists_10frame_step1
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_low_latency.yaml ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # SONIC Release (Low-Latency) - Observation Configuration
2
+ # =======================================================
3
+ # For ONNX models exported from the low-latency sonic_release checkpoint
4
+ # (smpl 4-frame lookahead; g1/teleop lookahead at step1, body-frame orientation).
5
+ #
6
+ # Encoder input dimension: 1247 Decoder/policy dimension: 994 token: 64
7
+ # Uses the unitoken_all_noz tokenizer config (3 encoders: g1, teleop, smpl)
8
+ #
9
+ # Requires the smpl_*_4frame_step1 entries in GetObservationRegistry()
10
+ # (src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp) + a rebuild to load.
11
+
12
+ observations:
13
+
14
+ - name: "token_state"
15
+ enabled: true
16
+
17
+ - name: "his_base_angular_velocity_10frame_step1"
18
+ enabled: true
19
+
20
+ - name: "his_body_joint_positions_10frame_step1"
21
+ enabled: true
22
+
23
+ - name: "his_body_joint_velocities_10frame_step1"
24
+ enabled: true
25
+
26
+ - name: "his_last_actions_10frame_step1"
27
+ enabled: true
28
+
29
+ - name: "his_gravity_dir_10frame_step1"
30
+ enabled: true
31
+
32
+ encoder:
33
+ dimension: 64
34
+ use_fp16: false
35
+ encoder_observations:
36
+ # Shared
37
+ - name: "encoder_mode_4"
38
+ enabled: true
39
+ # g1 encoder: command_multi_future_nonflat (positions + velocities), step1
40
+ - name: "motion_joint_positions_10frame_step1"
41
+ enabled: true
42
+ - name: "motion_joint_velocities_10frame_step1"
43
+ enabled: true
44
+ # g1 encoder: motion_anchor_ori_b_mf_nonflat (body, multi-frame FIRST), step1
45
+ - name: "motion_anchor_orientation_10frame_step1"
46
+ enabled: true
47
+ # teleop encoder: motion_anchor_ori_b (body, single-frame SECOND)
48
+ - name: "motion_anchor_orientation"
49
+ enabled: true
50
+ # teleop encoder: command_multi_future_lower_body, step1
51
+ - name: "motion_joint_positions_lowerbody_10frame_step1"
52
+ enabled: true
53
+ - name: "motion_joint_velocities_lowerbody_10frame_step1"
54
+ enabled: true
55
+ # teleop encoder: vr_3point
56
+ - name: "vr_3point_local_target"
57
+ enabled: true
58
+ - name: "vr_3point_local_orn_target"
59
+ enabled: true
60
+ # smpl encoder: smpl_joints_multi_future_local_nonflat (4 frames, step1) <-- LOW-LATENCY
61
+ - name: "smpl_joints_4frame_step1"
62
+ enabled: true
63
+ # smpl encoder: smpl_root_ori_b_multi_future (body, 4 frames, step1) <-- LOW-LATENCY
64
+ - name: "smpl_anchor_orientation_4frame_step1"
65
+ enabled: true
66
+ # smpl encoder: joint_pos_multi_future_wrist_for_smpl (4 frames, step1) <-- LOW-LATENCY
67
+ - name: "motion_joint_positions_wrists_4frame_step1"
68
+ enabled: true
69
+ encoder_modes:
70
+ - name: "g1"
71
+ mode_id: 0
72
+ required_observations:
73
+ - encoder_mode_4
74
+ - motion_joint_positions_10frame_step1
75
+ - motion_joint_velocities_10frame_step1
76
+ - motion_anchor_orientation_10frame_step1
77
+ - name: "teleop"
78
+ mode_id: 1
79
+ required_observations:
80
+ - encoder_mode_4
81
+ - motion_joint_positions_lowerbody_10frame_step1
82
+ - motion_joint_velocities_lowerbody_10frame_step1
83
+ - vr_3point_local_target
84
+ - vr_3point_local_orn_target
85
+ - motion_anchor_orientation
86
+ - name: "smpl"
87
+ mode_id: 2
88
+ required_observations:
89
+ - encoder_mode_4
90
+ - smpl_joints_4frame_step1
91
+ - smpl_anchor_orientation_4frame_step1
92
+ - motion_joint_positions_wrists_4frame_step1
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_sonic_release.yaml ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # SONIC Release - Observation Configuration
2
+ # ==========================================
3
+ # For ONNX models exported from sonic_release checkpoint via:
4
+ # python gear_sonic/eval_agent_trl.py +checkpoint=sonic_release/last.pt \
5
+ # +headless=True ++num_envs=1 +export_onnx_only=true
6
+ #
7
+ # Encoder input dimension: 1751 (1 encoder_index + 1750 tokenizer obs)
8
+ # Uses the unitoken_all_noz tokenizer config (3 encoders: g1, teleop, smpl)
9
+
10
+ observations:
11
+
12
+ - name: "token_state"
13
+ enabled: true
14
+
15
+ - name: "his_base_angular_velocity_10frame_step1"
16
+ enabled: true
17
+
18
+ - name: "his_body_joint_positions_10frame_step1"
19
+ enabled: true
20
+
21
+ - name: "his_body_joint_velocities_10frame_step1"
22
+ enabled: true
23
+
24
+ - name: "his_last_actions_10frame_step1"
25
+ enabled: true
26
+
27
+ - name: "his_gravity_dir_10frame_step1"
28
+ enabled: true
29
+
30
+ encoder:
31
+ dimension: 64
32
+ use_fp16: false
33
+ encoder_observations:
34
+ # Used by all encoder modes
35
+ - name: "encoder_index"
36
+ enabled: true
37
+ # G1 mode
38
+ - name: "command_multi_future_nonflat"
39
+ enabled: true
40
+ - name: "motion_anchor_ori_b_mf_nonflat"
41
+ enabled: true
42
+ # Teleop mode
43
+ - name: "command_multi_future_lower_body"
44
+ enabled: true
45
+ - name: "vr_3point_local_target"
46
+ enabled: true
47
+ - name: "vr_3point_local_orn_target"
48
+ enabled: true
49
+ - name: "motion_anchor_ori_b"
50
+ enabled: true
51
+ # SMPL mode
52
+ - name: "smpl_joints_multi_future_local_nonflat"
53
+ enabled: true
54
+ - name: "smpl_root_ori_b_multi_future"
55
+ enabled: true
56
+ - name: "joint_pos_multi_future_wrist_for_smpl"
57
+ enabled: true
58
+ encoder_modes:
59
+ - name: "g1"
60
+ mode_id: 0
61
+ required_observations:
62
+ - encoder_index
63
+ - command_multi_future_nonflat
64
+ - motion_anchor_ori_b_mf_nonflat
65
+ - name: "teleop"
66
+ mode_id: 1
67
+ required_observations:
68
+ - encoder_index
69
+ - command_multi_future_lower_body
70
+ - vr_3point_local_target
71
+ - vr_3point_local_orn_target
72
+ - motion_anchor_ori_b
73
+ - name: "smpl"
74
+ mode_id: 2
75
+ required_observations:
76
+ - encoder_index
77
+ - smpl_joints_multi_future_local_nonflat
78
+ - smpl_root_ori_b_multi_future
79
+ - joint_pos_multi_future_wrist_for_smpl
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/release/observation_config_sonic_v1_1.yaml ADDED
@@ -0,0 +1,74 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # SONIC v1.1 - Observation Configuration
2
+ # =================================================
3
+ # Matches sonic_v1_1/model_encoder.onnx and model_decoder.onnx.
4
+ #
5
+ # Encoder input: 1751 Decoder input: 994 Token: 64
6
+ # G1/teleop references use 10 frames at step5. SMPL and wrist references use
7
+ # 10 frames at step1. Root orientations are normalized by robot heading.
8
+
9
+ observations:
10
+ - name: "token_state"
11
+ enabled: true
12
+ - name: "his_base_angular_velocity_10frame_step1"
13
+ enabled: true
14
+ - name: "his_body_joint_positions_10frame_step1"
15
+ enabled: true
16
+ - name: "his_body_joint_velocities_10frame_step1"
17
+ enabled: true
18
+ - name: "his_last_actions_10frame_step1"
19
+ enabled: true
20
+ - name: "his_gravity_dir_10frame_step1"
21
+ enabled: true
22
+
23
+ encoder:
24
+ dimension: 64
25
+ use_fp16: false
26
+ encoder_observations:
27
+ - name: "encoder_mode_4"
28
+ enabled: true
29
+ - name: "motion_joint_positions_10frame_step5"
30
+ enabled: true
31
+ - name: "motion_joint_velocities_10frame_step5"
32
+ enabled: true
33
+ - name: "motion_anchor_orientation_heading_10frame_step5"
34
+ enabled: true
35
+ - name: "motion_anchor_orientation_heading"
36
+ enabled: true
37
+ - name: "motion_joint_positions_lowerbody_10frame_step5"
38
+ enabled: true
39
+ - name: "motion_joint_velocities_lowerbody_10frame_step5"
40
+ enabled: true
41
+ - name: "vr_3point_local_target"
42
+ enabled: true
43
+ - name: "vr_3point_local_orn_target"
44
+ enabled: true
45
+ - name: "smpl_joints_10frame_step1"
46
+ enabled: true
47
+ - name: "smpl_anchor_orientation_heading_10frame_step1"
48
+ enabled: true
49
+ - name: "motion_joint_positions_wrists_10frame_step1"
50
+ enabled: true
51
+ encoder_modes:
52
+ - name: "g1"
53
+ mode_id: 0
54
+ required_observations:
55
+ - encoder_mode_4
56
+ - motion_joint_positions_10frame_step5
57
+ - motion_joint_velocities_10frame_step5
58
+ - motion_anchor_orientation_heading_10frame_step5
59
+ - name: "teleop"
60
+ mode_id: 1
61
+ required_observations:
62
+ - encoder_mode_4
63
+ - motion_joint_positions_lowerbody_10frame_step5
64
+ - motion_joint_velocities_lowerbody_10frame_step5
65
+ - vr_3point_local_target
66
+ - vr_3point_local_orn_target
67
+ - motion_anchor_orientation_heading
68
+ - name: "smpl"
69
+ mode_id: 2
70
+ required_observations:
71
+ - encoder_mode_4
72
+ - smpl_joints_10frame_step1
73
+ - smpl_anchor_orientation_heading_10frame_step1
74
+ - motion_joint_positions_wrists_10frame_step1
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/policy/sonic_v1_1/observation_config.yaml ADDED
@@ -0,0 +1,74 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # SONIC v1.1 - Observation Configuration
2
+ # =================================================
3
+ # Matches sonic_v1_1/model_encoder.onnx and model_decoder.onnx.
4
+ #
5
+ # Encoder input: 1751 Decoder input: 994 Token: 64
6
+ # G1/teleop references use 10 frames at step5. SMPL and wrist references use
7
+ # 10 frames at step1. Root orientations are normalized by robot heading.
8
+
9
+ observations:
10
+ - name: "token_state"
11
+ enabled: true
12
+ - name: "his_base_angular_velocity_10frame_step1"
13
+ enabled: true
14
+ - name: "his_body_joint_positions_10frame_step1"
15
+ enabled: true
16
+ - name: "his_body_joint_velocities_10frame_step1"
17
+ enabled: true
18
+ - name: "his_last_actions_10frame_step1"
19
+ enabled: true
20
+ - name: "his_gravity_dir_10frame_step1"
21
+ enabled: true
22
+
23
+ encoder:
24
+ dimension: 64
25
+ use_fp16: false
26
+ encoder_observations:
27
+ - name: "encoder_mode_4"
28
+ enabled: true
29
+ - name: "motion_joint_positions_10frame_step5"
30
+ enabled: true
31
+ - name: "motion_joint_velocities_10frame_step5"
32
+ enabled: true
33
+ - name: "motion_anchor_orientation_heading_10frame_step5"
34
+ enabled: true
35
+ - name: "motion_anchor_orientation_heading"
36
+ enabled: true
37
+ - name: "motion_joint_positions_lowerbody_10frame_step5"
38
+ enabled: true
39
+ - name: "motion_joint_velocities_lowerbody_10frame_step5"
40
+ enabled: true
41
+ - name: "vr_3point_local_target"
42
+ enabled: true
43
+ - name: "vr_3point_local_orn_target"
44
+ enabled: true
45
+ - name: "smpl_joints_10frame_step1"
46
+ enabled: true
47
+ - name: "smpl_anchor_orientation_heading_10frame_step1"
48
+ enabled: true
49
+ - name: "motion_joint_positions_wrists_10frame_step1"
50
+ enabled: true
51
+ encoder_modes:
52
+ - name: "g1"
53
+ mode_id: 0
54
+ required_observations:
55
+ - encoder_mode_4
56
+ - motion_joint_positions_10frame_step5
57
+ - motion_joint_velocities_10frame_step5
58
+ - motion_anchor_orientation_heading_10frame_step5
59
+ - name: "teleop"
60
+ mode_id: 1
61
+ required_observations:
62
+ - encoder_mode_4
63
+ - motion_joint_positions_lowerbody_10frame_step5
64
+ - motion_joint_velocities_lowerbody_10frame_step5
65
+ - vr_3point_local_target
66
+ - vr_3point_local_orn_target
67
+ - motion_anchor_orientation_heading
68
+ - name: "smpl"
69
+ mode_id: 2
70
+ required_observations:
71
+ - encoder_mode_4
72
+ - smpl_joints_10frame_step1
73
+ - smpl_anchor_orientation_heading_10frame_step1
74
+ - motion_joint_positions_wrists_10frame_step1
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/convert_motions.py ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/usr/bin/env python3
2
+ """
3
+ Convert G1 motion capture data from joblib pickle to C++ readable formats
4
+ Converts motion sequences with joint positions, velocities, and full body kinematics
5
+ """
6
+
7
+ import sys
8
+ import os
9
+
10
+ def convert_motion_data(pkl_file, base_output_dir=None):
11
+ """Convert the motion pickle file to C++ readable formats"""
12
+
13
+ # Create organized folder structure: reference/{pkl_name}/
14
+ pkl_name = os.path.splitext(os.path.basename(pkl_file))[0] # Extract filename without extension
15
+
16
+ if base_output_dir is None:
17
+ # Default: put in reference folder structure
18
+ base_output_dir = os.path.join(os.path.dirname(pkl_file), pkl_name)
19
+
20
+ print(f"Converting motion data from: {pkl_file}")
21
+ print(f"Output directory structure: {base_output_dir}/")
22
+
23
+ # Load the data
24
+ try:
25
+ import joblib
26
+ data = joblib.load(pkl_file)
27
+ print("✓ Successfully loaded with joblib")
28
+ except ImportError:
29
+ print("✗ joblib not available, trying pickle...")
30
+ try:
31
+ import pickle
32
+ with open(pkl_file, 'rb') as f:
33
+ data = pickle.load(f)
34
+ print("✓ Successfully loaded with pickle")
35
+ except Exception as e:
36
+ print(f"✗ Failed to load: {e}")
37
+ return False
38
+ except Exception as e:
39
+ print(f"✗ Failed to load with joblib: {e}")
40
+ return False
41
+
42
+ # Create base output directory
43
+ os.makedirs(base_output_dir, exist_ok=True)
44
+
45
+ print(f"\nFound {len(data)} motion sequences:")
46
+ for motion_name in data.keys():
47
+ print(f" - {motion_name}")
48
+
49
+ # Convert each motion sequence
50
+ success_count = 0
51
+ for motion_name, motion_data in data.items():
52
+ print(f"\nProcessing: {motion_name}")
53
+
54
+ # Create individual folder for this motion
55
+ motion_output_dir = os.path.join(base_output_dir, motion_name)
56
+ print(f"Creating individual folder for this motion: {motion_output_dir}")
57
+ os.makedirs(motion_output_dir, exist_ok=True)
58
+
59
+ if convert_single_motion(motion_name, motion_data, motion_output_dir):
60
+ success_count += 1
61
+
62
+ # Create summary file in base directory
63
+ create_summary_file(data, base_output_dir)
64
+
65
+ print(f"\n✓ Successfully converted {success_count}/{len(data)} motions")
66
+ print(f"Output files saved to: {base_output_dir}/")
67
+
68
+ # Extract counts from first motion for summary
69
+ joint_count = None
70
+ body_count = None
71
+ if data:
72
+ first_motion = next(iter(data.values()))
73
+ joint_count = first_motion['joint_pos'].shape[1]
74
+ body_count = first_motion['body_pos_w'].shape[1]
75
+
76
+ return success_count > 0, len(data), joint_count, body_count
77
+
78
+ def convert_single_motion(motion_name, motion_data, output_dir):
79
+ """Convert a single motion sequence to various formats"""
80
+
81
+ try:
82
+ # Extract ALL available data arrays
83
+ joint_pos = motion_data['joint_pos'] # Shape: (timesteps, 29)
84
+ joint_vel = motion_data['joint_vel'] # Shape: (timesteps, 29)
85
+ body_pos_w = motion_data['body_pos_w'] # Shape: (timesteps, 14, 3)
86
+ body_quat_w = motion_data['body_quat_w'] # Shape: (timesteps, 14, 4)
87
+ body_lin_vel_w = motion_data['body_lin_vel_w'] # Shape: (timesteps, 14, 3)
88
+ body_ang_vel_w = motion_data['body_ang_vel_w'] # Shape: (timesteps, 14, 3)
89
+
90
+ timesteps = joint_pos.shape[0]
91
+ print(f" Timesteps: {timesteps}, Joints: {joint_pos.shape[1]}, Body parts: {body_pos_w.shape[1]}")
92
+
93
+ # 1. Save joint data as CSV
94
+ joint_pos_file = os.path.join(output_dir, "joint_pos.csv")
95
+ save_array_as_csv(joint_pos, joint_pos_file,
96
+ [f"joint_{i}" for i in range(joint_pos.shape[1])])
97
+
98
+ joint_vel_file = os.path.join(output_dir, "joint_vel.csv")
99
+ save_array_as_csv(joint_vel, joint_vel_file,
100
+ [f"joint_vel_{i}" for i in range(joint_vel.shape[1])])
101
+
102
+ # 2. Save body position data (reshape to 2D for CSV)
103
+ body_pos_reshaped = body_pos_w.reshape(timesteps, -1) # (timesteps, 14*3)
104
+ body_pos_file = os.path.join(output_dir, "body_pos.csv")
105
+ body_pos_headers = [f"body_{i//3}_{'xyz'[i%3]}" for i in range(body_pos_reshaped.shape[1])]
106
+ save_array_as_csv(body_pos_reshaped, body_pos_file, body_pos_headers)
107
+
108
+ # 3. Save body quaternion data (reshape to 2D for CSV)
109
+ body_quat_reshaped = body_quat_w.reshape(timesteps, -1) # (timesteps, 14*4)
110
+ body_quat_file = os.path.join(output_dir, "body_quat.csv")
111
+ body_quat_headers = [f"body_{i//4}_{'wxyz'[i%4]}" for i in range(body_quat_reshaped.shape[1])]
112
+ save_array_as_csv(body_quat_reshaped, body_quat_file, body_quat_headers)
113
+
114
+ # 4. Save body linear velocity data
115
+ body_lin_vel_reshaped = body_lin_vel_w.reshape(timesteps, -1) # (timesteps, 14*3)
116
+ body_lin_vel_file = os.path.join(output_dir, "body_lin_vel.csv")
117
+ body_lin_vel_headers = [f"body_{i//3}_vel_{'xyz'[i%3]}" for i in range(body_lin_vel_reshaped.shape[1])]
118
+ save_array_as_csv(body_lin_vel_reshaped, body_lin_vel_file, body_lin_vel_headers)
119
+
120
+ # 5. Save body angular velocity data
121
+ body_ang_vel_reshaped = body_ang_vel_w.reshape(timesteps, -1) # (timesteps, 14*3)
122
+ body_ang_vel_file = os.path.join(output_dir, "body_ang_vel.csv")
123
+ body_ang_vel_headers = [f"body_{i//3}_angvel_{'xyz'[i%3]}" for i in range(body_ang_vel_reshaped.shape[1])]
124
+ save_array_as_csv(body_ang_vel_reshaped, body_ang_vel_file, body_ang_vel_headers)
125
+
126
+ # 6. Save metadata
127
+ metadata_file = os.path.join(output_dir, "metadata.txt")
128
+ save_metadata(motion_name, motion_data, metadata_file)
129
+
130
+ # 7. Save detailed info
131
+ info_file = os.path.join(output_dir, "info.txt")
132
+ save_motion_info(motion_name, motion_data, info_file)
133
+
134
+ print(f" ✓ Saved 7 files for {motion_name} (joints + full body kinematics)")
135
+ return True
136
+
137
+ except Exception as e:
138
+ print(f" ✗ Error processing {motion_name}: {e}")
139
+ return False
140
+
141
+ def save_array_as_csv(array, filename, headers=None):
142
+ """Save numpy array as CSV file"""
143
+ import numpy as np
144
+
145
+ with open(filename, 'w') as f:
146
+ # Write header
147
+ if headers:
148
+ f.write(",".join(headers) + "\n")
149
+ else:
150
+ f.write(",".join([f"col_{i}" for i in range(array.shape[1])]) + "\n")
151
+
152
+ # Write data
153
+ for row in array:
154
+ f.write(",".join([f"{val:.6f}" for val in row]) + "\n")
155
+
156
+
157
+ def save_metadata(motion_name, motion_data, filename):
158
+ """Save metadata and indices information"""
159
+
160
+ with open(filename, 'w') as f:
161
+ f.write(f"Metadata for: {motion_name}\n")
162
+ f.write("=" * 30 + "\n\n")
163
+
164
+ # Save body indexes if available
165
+ if '_body_indexes' in motion_data:
166
+ f.write("Body part indexes:\n")
167
+ f.write(f"{motion_data['_body_indexes']}\n\n")
168
+
169
+ # Save total timestep count
170
+ if 'time_step_total' in motion_data:
171
+ f.write(f"Total timesteps: {motion_data['time_step_total']}\n\n")
172
+
173
+ # Data summary
174
+ f.write("Data arrays summary:\n")
175
+ for key, value in motion_data.items():
176
+ if hasattr(value, 'shape'):
177
+ f.write(f" {key}: {value.shape} ({value.dtype})\n")
178
+
179
+ def save_motion_info(motion_name, motion_data, filename):
180
+ """Save detailed motion information"""
181
+
182
+ with open(filename, 'w') as f:
183
+ f.write(f"Motion Information: {motion_name}\n")
184
+ f.write("=" * 50 + "\n\n")
185
+
186
+ for key, value in motion_data.items():
187
+ f.write(f"{key}:\n")
188
+ if hasattr(value, 'shape'):
189
+ f.write(f" Shape: {value.shape}\n")
190
+ f.write(f" Dtype: {value.dtype}\n")
191
+ if value.size > 0:
192
+ flat_vals = value.flatten()
193
+ f.write(f" Range: [{flat_vals.min():.3f}, {flat_vals.max():.3f}]\n")
194
+ f.write(f" Sample: {flat_vals[:5]}\n")
195
+ else:
196
+ f.write(f" Value: {value}\n")
197
+ f.write("\n")
198
+
199
+ def create_summary_file(data, output_dir):
200
+ """Create a summary file with all motion information"""
201
+
202
+ summary_file = os.path.join(output_dir, "motion_summary.txt")
203
+
204
+ with open(summary_file, 'w') as f:
205
+ f.write("G1 Motion Capture Data Summary\n")
206
+ f.write("=" * 40 + "\n\n")
207
+ f.write(f"Total motion sequences: {len(data)}\n\n")
208
+
209
+
210
+ # Detailed motion list
211
+ f.write("Detailed motion list:\n")
212
+ for motion_name, motion_data in data.items():
213
+ joint_pos = motion_data['joint_pos']
214
+ f.write(f" {motion_name}:\n")
215
+ f.write(f" Timesteps: {joint_pos.shape[0]}\n")
216
+ f.write(f" Joints: {joint_pos.shape[1]}\n")
217
+ f.write(f" Body parts: {motion_data['body_pos_w'].shape[1]}\n")
218
+ f.write("\n")
219
+
220
+ def main():
221
+ if len(sys.argv) < 2:
222
+ print("Usage: python3 convert_motions.py <pkl_file> [output_base_dir]")
223
+ print("Examples:")
224
+ print(" python3 convert_motions.py bones_072925_test.pkl")
225
+ print(" python3 convert_motions.py bones_072925_test.pkl custom_output/")
226
+ print("")
227
+ print("Default output structure: reference/{pkl_name}/{motion_name}/")
228
+ return
229
+
230
+ pkl_file = sys.argv[1]
231
+ output_base_dir = sys.argv[2] if len(sys.argv) > 2 else None
232
+
233
+ if not os.path.exists(pkl_file):
234
+ print(f"Error: File not found: {pkl_file}")
235
+ return
236
+
237
+ # Extract pkl name for output messages
238
+ pkl_name = os.path.splitext(os.path.basename(pkl_file))[0]
239
+
240
+ print("G1 Motion Data Converter")
241
+ print("========================")
242
+
243
+ success, motion_count, joint_count, body_count = convert_motion_data(pkl_file, output_base_dir)
244
+ if success:
245
+ print("\n✓ Conversion completed successfully!")
246
+ print("\nExtracted data for each motion:")
247
+ print(f"- Joint positions & velocities ({joint_count} joints)")
248
+ print(f"- Body positions in world coordinates ({body_count} body parts)")
249
+ print("- Body orientations (quaternions)")
250
+ print("- Body linear & angular velocities")
251
+ print("- Metadata and body part indices")
252
+ print("\nNext steps:")
253
+ print(f"1. Build C++ reader: make motion_data_reader")
254
+ print(f"2. Test reading: ./bin/motion_data_reader reference/{pkl_name}/")
255
+ print("3. Use full kinematic data in your G1 control programs")
256
+ print("\nFile structure created:")
257
+ print(f"reference/{pkl_name}/")
258
+ print("├── [motion_name_1]/")
259
+ print("│ ├── joint_pos.csv")
260
+ print("│ ├── joint_vel.csv")
261
+ print("│ ├── body_pos.csv")
262
+ print("│ ├── body_quat.csv")
263
+ print("│ ├── body_lin_vel.csv")
264
+ print("│ ├── body_ang_vel.csv")
265
+ print("│ ├── metadata.txt")
266
+ print("│ └── info.txt")
267
+ print("├── [motion_name_2]/")
268
+ print("├── motion_summary.txt")
269
+ print(f"└── ... ({motion_count} motion folders total)")
270
+ else:
271
+ print("\n✗ Conversion failed")
272
+
273
+ if __name__ == "__main__":
274
+ main()
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464/info.txt ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: dance_in_da_party_001__A464
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (497, 29)
6
+ Dtype: float32
7
+ Range: [-1.868, 2.226]
8
+ Sample: [ 0.12844084 0.10271313 0.0201158 -0.01923597 0.02096039]
9
+
10
+ joint_vel:
11
+ Shape: (497, 29)
12
+ Dtype: float32
13
+ Range: [-20.223, 20.504]
14
+ Sample: [0.14367104 0.14386438 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (497, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.525, 1.307]
20
+ Sample: [2.7894555e-04 1.4439992e-02 7.9243100e-01 1.1525212e-01 1.0816078e-02]
21
+
22
+ body_quat_w:
23
+ Shape: (497, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.998]
26
+ Sample: [-0.7035716 0.02096497 0.01313119 0.71019363 -0.70268404]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (497, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.763, 2.750]
32
+ Sample: [-0.00116042 -0.02408473 -0.00280159 -0.00131542 -0.02102444]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (497, 14, 3)
36
+ Dtype: float32
37
+ Range: [-12.991, 16.331]
38
+ Sample: [ 2.82337610e-03 9.97470808e-04 -2.06027436e-03 1.01761095e-01
39
+ -4.19195203e-05]
40
+
41
+ _body_indexes:
42
+ Shape: (14,)
43
+ Dtype: int64
44
+ Range: [0.000, 29.000]
45
+ Sample: [ 0 4 10 18 5]
46
+
47
+ time_step_total:
48
+ Shape: ()
49
+ Dtype: int64
50
+ Range: [497.000, 497.000]
51
+ Sample: [497]
52
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: dance_in_da_party_001__A464
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 497
8
+
9
+ Data arrays summary:
10
+ joint_pos: (497, 29) (float32)
11
+ joint_vel: (497, 29) (float32)
12
+ body_pos_w: (497, 14, 3) (float32)
13
+ body_quat_w: (497, 14, 4) (float32)
14
+ body_lin_vel_w: (497, 14, 3) (float32)
15
+ body_ang_vel_w: (497, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464_M/info.txt ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: dance_in_da_party_001__A464_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (497, 29)
6
+ Dtype: float32
7
+ Range: [-1.868, 2.226]
8
+ Sample: [ 0.10277859 0.12832902 -0.02010582 -0.0212364 0.01920657]
9
+
10
+ joint_vel:
11
+ Shape: (497, 29)
12
+ Dtype: float32
13
+ Range: [-20.223, 20.504]
14
+ Sample: [0.14217682 0.14665052 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (497, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.537, 1.307]
20
+ Sample: [-2.83326663e-04 1.44427223e-02 7.92431474e-01 1.17636755e-01
21
+ 1.22397467e-02]
22
+
23
+ body_quat_w:
24
+ Shape: (497, 14, 4)
25
+ Dtype: float32
26
+ Range: [-0.707, 0.998]
27
+ Sample: [ 0.7101825 -0.01322068 -0.0210839 -0.7035777 0.70851105]
28
+
29
+ body_lin_vel_w:
30
+ Shape: (497, 14, 3)
31
+ Dtype: float32
32
+ Range: [-2.763, 2.579]
33
+ Sample: [ 0.00117058 -0.02414531 -0.00281086 0.00139649 -0.02009862]
34
+
35
+ body_ang_vel_w:
36
+ Shape: (497, 14, 3)
37
+ Dtype: float32
38
+ Range: [-16.230, 12.991]
39
+ Sample: [ 0.00225733 -0.00063545 0.00251273 0.10681088 0.0040871 ]
40
+
41
+ _body_indexes:
42
+ Shape: (14,)
43
+ Dtype: int64
44
+ Range: [0.000, 29.000]
45
+ Sample: [ 0 4 10 18 5]
46
+
47
+ time_step_total:
48
+ Shape: ()
49
+ Dtype: int64
50
+ Range: [497.000, 497.000]
51
+ Sample: [497]
52
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/dance_in_da_party_001__A464_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: dance_in_da_party_001__A464_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 497
8
+
9
+ Data arrays summary:
10
+ joint_pos: (497, 29) (float32)
11
+ joint_vel: (497, 29) (float32)
12
+ body_pos_w: (497, 14, 3) (float32)
13
+ body_quat_w: (497, 14, 4) (float32)
14
+ body_lin_vel_w: (497, 14, 3) (float32)
15
+ body_ang_vel_w: (497, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/forward_lunge_R_001__A359_M/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: forward_lunge_R_001__A359_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (399, 29)
6
+ Dtype: float32
7
+ Range: [-1.516, 1.847]
8
+ Sample: [ 0.21495092 0.21319595 -0.0629773 -0.03622465 0.0364784 ]
9
+
10
+ joint_vel:
11
+ Shape: (399, 29)
12
+ Dtype: float32
13
+ Range: [-6.573, 7.911]
14
+ Sample: [ 0. -0.07231236 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (399, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.749, 1.083]
20
+ Sample: [0.00151141 0.01061182 0.79061526 0.11847792 0.00413224]
21
+
22
+ body_quat_w:
23
+ Shape: (399, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.951]
26
+ Sample: [ 0.7101441 -0.0368785 -0.03962614 -0.70197237 0.71026546]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (399, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.788, 2.510]
32
+ Sample: [ 0.00209634 -0.00167504 -0.01071004 -0.00232031 0.00457859]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (399, 14, 3)
36
+ Dtype: float32
37
+ Range: [-6.113, 7.547]
38
+ Sample: [ 0.1587345 0.02668758 -0.10707712 0.09136587 0.00318161]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [399.000, 399.000]
50
+ Sample: [399]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/forward_lunge_R_001__A359_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: forward_lunge_R_001__A359_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 399
8
+
9
+ Data arrays summary:
10
+ joint_pos: (399, 29) (float32)
11
+ joint_vel: (399, 29) (float32)
12
+ body_pos_w: (399, 14, 3) (float32)
13
+ body_quat_w: (399, 14, 4) (float32)
14
+ body_lin_vel_w: (399, 14, 3) (float32)
15
+ body_ang_vel_w: (399, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545/info.txt ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: macarena_001__A545
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (1375, 29)
6
+ Dtype: float32
7
+ Range: [-1.839, 1.703]
8
+ Sample: [-0.10820262 -0.12627353 -0.04614628 0.17931442 0.03701398]
9
+
10
+ joint_vel:
11
+ Shape: (1375, 29)
12
+ Dtype: float32
13
+ Range: [-16.128, 17.410]
14
+ Sample: [-0.6181218 0. 0.19610636 0.40379167 0.22178088]
15
+
16
+ body_pos_w:
17
+ Shape: (1375, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.461, 1.258]
20
+ Sample: [-5.8091094e-04 1.5418809e-02 7.8600091e-01 1.1273000e-01
21
+ 3.0267565e-03]
22
+
23
+ body_quat_w:
24
+ Shape: (1375, 14, 4)
25
+ Dtype: float32
26
+ Range: [-0.707, 1.000]
27
+ Sample: [-6.7035830e-01 -5.1285548e-04 -1.2871666e-02 7.4192578e-01
28
+ -6.7212301e-01]
29
+
30
+ body_lin_vel_w:
31
+ Shape: (1375, 14, 3)
32
+ Dtype: float32
33
+ Range: [-2.083, 2.181]
34
+ Sample: [-0.07513097 0.0133487 -0.02677997 -0.09454302 0.01350545]
35
+
36
+ body_ang_vel_w:
37
+ Shape: (1375, 14, 3)
38
+ Dtype: float32
39
+ Range: [-16.576, 15.656]
40
+ Sample: [-5.7085539e-04 1.4832462e-01 1.8231243e-01 -7.0407879e-01
41
+ -1.9635165e-01]
42
+
43
+ _body_indexes:
44
+ Shape: (14,)
45
+ Dtype: int64
46
+ Range: [0.000, 29.000]
47
+ Sample: [ 0 4 10 18 5]
48
+
49
+ time_step_total:
50
+ Shape: ()
51
+ Dtype: int64
52
+ Range: [1375.000, 1375.000]
53
+ Sample: [1375]
54
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: macarena_001__A545
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 1375
8
+
9
+ Data arrays summary:
10
+ joint_pos: (1375, 29) (float32)
11
+ joint_vel: (1375, 29) (float32)
12
+ body_pos_w: (1375, 14, 3) (float32)
13
+ body_quat_w: (1375, 14, 4) (float32)
14
+ body_lin_vel_w: (1375, 14, 3) (float32)
15
+ body_ang_vel_w: (1375, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545_M/info.txt ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: macarena_001__A545_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (1375, 29)
6
+ Dtype: float32
7
+ Range: [-1.752, 1.839]
8
+ Sample: [-0.12627211 -0.1081429 0.04614829 -0.03699337 -0.17927563]
9
+
10
+ joint_vel:
11
+ Shape: (1375, 29)
12
+ Dtype: float32
13
+ Range: [-17.410, 16.353]
14
+ Sample: [ 0. -0.6198224 -0.19615404 -0.22224468 -0.4047744 ]
15
+
16
+ body_pos_w:
17
+ Shape: (1375, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.428, 1.258]
20
+ Sample: [5.7239551e-04 1.5415414e-02 7.8600442e-01 1.1899064e-01 2.5980033e-02]
21
+
22
+ body_quat_w:
23
+ Shape: (1375, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 1.000]
26
+ Sample: [ 7.4192613e-01 1.2869124e-02 5.1390840e-04 -6.7035794e-01
27
+ 7.3185688e-01]
28
+
29
+ body_lin_vel_w:
30
+ Shape: (1375, 14, 3)
31
+ Dtype: float32
32
+ Range: [-1.572, 2.181]
33
+ Sample: [ 0.07525253 0.0134165 -0.02684434 0.09596311 -0.00692309]
34
+
35
+ body_ang_vel_w:
36
+ Shape: (1375, 14, 3)
37
+ Dtype: float32
38
+ Range: [-15.288, 16.576]
39
+ Sample: [-0.00054383 -0.14689815 -0.18050767 0.00343074 0.08365735]
40
+
41
+ _body_indexes:
42
+ Shape: (14,)
43
+ Dtype: int64
44
+ Range: [0.000, 29.000]
45
+ Sample: [ 0 4 10 18 5]
46
+
47
+ time_step_total:
48
+ Shape: ()
49
+ Dtype: int64
50
+ Range: [1375.000, 1375.000]
51
+ Sample: [1375]
52
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/macarena_001__A545_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: macarena_001__A545_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 1375
8
+
9
+ Data arrays summary:
10
+ joint_pos: (1375, 29) (float32)
11
+ joint_vel: (1375, 29) (float32)
12
+ body_pos_w: (1375, 14, 3) (float32)
13
+ body_quat_w: (1375, 14, 4) (float32)
14
+ body_lin_vel_w: (1375, 14, 3) (float32)
15
+ body_ang_vel_w: (1375, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543/info.txt ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: neutral_kick_R_001__A543
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (165, 29)
6
+ Dtype: float32
7
+ Range: [-1.511, 2.231]
8
+ Sample: [ 0.0102154 -0.02437789 -0.00672904 0.01929011 0.01479329]
9
+
10
+ joint_vel:
11
+ Shape: (165, 29)
12
+ Dtype: float32
13
+ Range: [-18.290, 20.364]
14
+ Sample: [-0.20629734 -0.50493777 0. 0. -0.0665314 ]
15
+
16
+ body_pos_w:
17
+ Shape: (165, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.350, 1.138]
20
+ Sample: [ 2.5986615e-04 -2.1045217e-03 7.8969425e-01 -1.1502424e-01
21
+ -9.6319402e-03]
22
+
23
+ body_quat_w:
24
+ Shape: (165, 14, 4)
25
+ Dtype: float32
26
+ Range: [-0.658, 0.962]
27
+ Sample: [ 0.70344394 -0.01907959 0.01310167 0.7103738 0.7017253 ]
28
+
29
+ body_lin_vel_w:
30
+ Shape: (165, 14, 3)
31
+ Dtype: float32
32
+ Range: [-3.077, 4.037]
33
+ Sample: [-0.00510128 -0.00777466 -0.01248983 -0.01428711 -0.00505795]
34
+
35
+ body_ang_vel_w:
36
+ Shape: (165, 14, 3)
37
+ Dtype: float32
38
+ Range: [-13.461, 10.895]
39
+ Sample: [-0.18448198 0.06041717 -0.20089665 0.01372697 0.04333916]
40
+
41
+ _body_indexes:
42
+ Shape: (14,)
43
+ Dtype: int64
44
+ Range: [0.000, 29.000]
45
+ Sample: [ 0 4 10 18 5]
46
+
47
+ time_step_total:
48
+ Shape: ()
49
+ Dtype: int64
50
+ Range: [165.000, 165.000]
51
+ Sample: [165]
52
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: neutral_kick_R_001__A543
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 165
8
+
9
+ Data arrays summary:
10
+ joint_pos: (165, 29) (float32)
11
+ joint_vel: (165, 29) (float32)
12
+ body_pos_w: (165, 14, 3) (float32)
13
+ body_quat_w: (165, 14, 4) (float32)
14
+ body_lin_vel_w: (165, 14, 3) (float32)
15
+ body_ang_vel_w: (165, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543_M/info.txt ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: neutral_kick_R_001__A543_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (165, 29)
6
+ Dtype: float32
7
+ Range: [-1.511, 2.231]
8
+ Sample: [-0.02438436 0.01020973 0.0067296 -0.01478768 -0.01928544]
9
+
10
+ joint_vel:
11
+ Shape: (165, 29)
12
+ Dtype: float32
13
+ Range: [-18.290, 20.364]
14
+ Sample: [-0.5047629 -0.20612705 0. 0.06651222 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (165, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.351, 1.138]
20
+ Sample: [-2.5653988e-04 -2.1049839e-03 7.8969407e-01 -1.1784680e-01
21
+ -6.2525691e-03]
22
+
23
+ body_quat_w:
24
+ Shape: (165, 14, 4)
25
+ Dtype: float32
26
+ Range: [-0.674, 0.962]
27
+ Sample: [ 0.71037376 -0.0131016 0.01907985 0.703444 0.7091498 ]
28
+
29
+ body_lin_vel_w:
30
+ Shape: (165, 14, 3)
31
+ Dtype: float32
32
+ Range: [-3.077, 4.037]
33
+ Sample: [ 0.00510508 -0.00776416 -0.01248534 0.01384882 -0.0365492 ]
34
+
35
+ body_ang_vel_w:
36
+ Shape: (165, 14, 3)
37
+ Dtype: float32
38
+ Range: [-10.156, 13.797]
39
+ Sample: [-0.18570669 -0.06071702 0.20189351 0.40606773 0.00312011]
40
+
41
+ _body_indexes:
42
+ Shape: (14,)
43
+ Dtype: int64
44
+ Range: [0.000, 29.000]
45
+ Sample: [ 0 4 10 18 5]
46
+
47
+ time_step_total:
48
+ Shape: ()
49
+ Dtype: int64
50
+ Range: [165.000, 165.000]
51
+ Sample: [165]
52
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/neutral_kick_R_001__A543_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: neutral_kick_R_001__A543_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 165
8
+
9
+ Data arrays summary:
10
+ joint_pos: (165, 29) (float32)
11
+ joint_vel: (165, 29) (float32)
12
+ body_pos_w: (165, 14, 3) (float32)
13
+ body_quat_w: (165, 14, 4) (float32)
14
+ body_lin_vel_w: (165, 14, 3) (float32)
15
+ body_ang_vel_w: (165, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/squat_001__A359/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: squat_001__A359
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (424, 29)
6
+ Dtype: float32
7
+ Range: [-2.215, 2.576]
8
+ Sample: [ 0.15727139 0.15096666 0.04344312 -0.00495214 0.00737908]
9
+
10
+ joint_vel:
11
+ Shape: (424, 29)
12
+ Dtype: float32
13
+ Range: [-4.688, 4.380]
14
+ Sample: [0.06294921 0.07401705 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (424, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.364, 1.085]
20
+ Sample: [-0.00253593 0.01265665 0.79256266 0.11277536 0.00799088]
21
+
22
+ body_quat_w:
23
+ Shape: (424, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.778]
26
+ Sample: [ 0.7121807 -0.03302116 -0.02697971 -0.70069987 0.711816 ]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (424, 14, 3)
30
+ Dtype: float32
31
+ Range: [-1.232, 1.069]
32
+ Sample: [-0.00345908 0.01068808 0.00030054 -0.00323385 0.01278332]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (424, 14, 3)
36
+ Dtype: float32
37
+ Range: [-4.028, 3.743]
38
+ Sample: [ 0.00429551 -0.00147157 0.01170849 -0.00151611 -0.00085008]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [424.000, 424.000]
50
+ Sample: [424]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/squat_001__A359/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: squat_001__A359
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 424
8
+
9
+ Data arrays summary:
10
+ joint_pos: (424, 29) (float32)
11
+ joint_vel: (424, 29) (float32)
12
+ body_pos_w: (424, 14, 3) (float32)
13
+ body_quat_w: (424, 14, 4) (float32)
14
+ body_lin_vel_w: (424, 14, 3) (float32)
15
+ body_ang_vel_w: (424, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_forward_lunge_R_001__A359_M/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: tired_forward_lunge_R_001__A359_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (810, 29)
6
+ Dtype: float32
7
+ Range: [-1.681, 2.251]
8
+ Sample: [ 0.10455281 0.12311819 -0.13420933 0.0210929 0.01301001]
9
+
10
+ joint_vel:
11
+ Shape: (810, 29)
12
+ Dtype: float32
13
+ Range: [-29.172, 24.785]
14
+ Sample: [0. 0. 0. 0. 0.]
15
+
16
+ body_pos_w:
17
+ Shape: (810, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.830, 1.122]
20
+ Sample: [ 0.00363829 0.01252624 0.78668284 0.11977606 -0.00450246]
21
+
22
+ body_quat_w:
23
+ Shape: (810, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.968]
26
+ Sample: [-0.6985865 0.04820039 0.04724668 0.71233517 -0.6972264 ]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (810, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.633, 2.705]
32
+ Sample: [ 0.00514652 -0.0242208 0.00147181 0.0059143 -0.02151402]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (810, 14, 3)
36
+ Dtype: float32
37
+ Range: [-9.584, 12.844]
38
+ Sample: [ 0.01855543 -0.00674082 0.00205783 0.04113024 0.00938711]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [810.000, 810.000]
50
+ Sample: [810]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_forward_lunge_R_001__A359_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: tired_forward_lunge_R_001__A359_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 810
8
+
9
+ Data arrays summary:
10
+ joint_pos: (810, 29) (float32)
11
+ joint_vel: (810, 29) (float32)
12
+ body_pos_w: (810, 14, 3) (float32)
13
+ body_quat_w: (810, 14, 4) (float32)
14
+ body_lin_vel_w: (810, 14, 3) (float32)
15
+ body_ang_vel_w: (810, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359/info.txt ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: tired_one_leg_jumping_R_001__A359
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (500, 29)
6
+ Dtype: float32
7
+ Range: [-2.466, 2.544]
8
+ Sample: [ 0.19818522 0.18190861 0.05533926 -0.01394359 0.01180514]
9
+
10
+ joint_vel:
11
+ Shape: (500, 29)
12
+ Dtype: float32
13
+ Range: [-24.277, 29.521]
14
+ Sample: [0.08117855 0.10404438 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (500, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.638, 1.389]
20
+ Sample: [-3.7561040e-03 1.1930190e-02 7.9080468e-01 1.1164543e-01
21
+ -1.8159859e-04]
22
+
23
+ body_quat_w:
24
+ Shape: (500, 14, 4)
25
+ Dtype: float32
26
+ Range: [-0.707, 0.994]
27
+ Sample: [-0.7018543 0.04748023 0.04207473 0.7094899 -0.7020061 ]
28
+
29
+ body_lin_vel_w:
30
+ Shape: (500, 14, 3)
31
+ Dtype: float32
32
+ Range: [-2.468, 3.083]
33
+ Sample: [-0.00731237 0.00322476 -0.00184366 -0.0072301 0.0033868 ]
34
+
35
+ body_ang_vel_w:
36
+ Shape: (500, 14, 3)
37
+ Dtype: float32
38
+ Range: [-13.765, 14.489]
39
+ Sample: [-2.3229383e-02 9.2615977e-05 7.7703241e-03 3.2781955e-02
40
+ -2.4797707e-03]
41
+
42
+ _body_indexes:
43
+ Shape: (14,)
44
+ Dtype: int64
45
+ Range: [0.000, 29.000]
46
+ Sample: [ 0 4 10 18 5]
47
+
48
+ time_step_total:
49
+ Shape: ()
50
+ Dtype: int64
51
+ Range: [500.000, 500.000]
52
+ Sample: [500]
53
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: tired_one_leg_jumping_R_001__A359
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 500
8
+
9
+ Data arrays summary:
10
+ joint_pos: (500, 29) (float32)
11
+ joint_vel: (500, 29) (float32)
12
+ body_pos_w: (500, 14, 3) (float32)
13
+ body_quat_w: (500, 14, 4) (float32)
14
+ body_lin_vel_w: (500, 14, 3) (float32)
15
+ body_ang_vel_w: (500, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359_M/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: tired_one_leg_jumping_R_001__A359_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (500, 29)
6
+ Dtype: float32
7
+ Range: [-2.466, 2.544]
8
+ Sample: [ 0.18195386 0.19815134 -0.05533458 -0.01181217 0.01394258]
9
+
10
+ joint_vel:
11
+ Shape: (500, 29)
12
+ Dtype: float32
13
+ Range: [-25.521, 29.521]
14
+ Sample: [0.10270029 0.0821501 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (500, 14, 3)
18
+ Dtype: float32
19
+ Range: [-0.638, 1.389]
20
+ Sample: [0.00375429 0.0119299 0.7908045 0.12123838 0.00211857]
21
+
22
+ body_quat_w:
23
+ Shape: (500, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.994]
26
+ Sample: [ 0.70963436 -0.04173436 -0.04712047 -0.7017528 0.709552 ]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (500, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.468, 3.083]
32
+ Sample: [ 0.00727609 0.00323505 -0.00185661 0.00736587 -0.00425211]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (500, 14, 3)
36
+ Dtype: float32
37
+ Range: [-14.474, 12.502]
38
+ Sample: [-0.04819455 -0.00166482 -0.01665068 0.0203299 0.0001879 ]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [500.000, 500.000]
50
+ Sample: [500]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/tired_one_leg_jumping_R_001__A359_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: tired_one_leg_jumping_R_001__A359_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 500
8
+
9
+ Data arrays summary:
10
+ joint_pos: (500, 29) (float32)
11
+ joint_vel: (500, 29) (float32)
12
+ body_pos_w: (500, 14, 3) (float32)
13
+ body_quat_w: (500, 14, 4) (float32)
14
+ body_lin_vel_w: (500, 14, 3) (float32)
15
+ body_ang_vel_w: (500, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: walking_quip_360_R_002__A428
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (455, 29)
6
+ Dtype: float32
7
+ Range: [-1.350, 1.403]
8
+ Sample: [ 0.0239802 0.01111414 -0.06473327 0.01455649 -0.05278705]
9
+
10
+ joint_vel:
11
+ Shape: (455, 29)
12
+ Dtype: float32
13
+ Range: [-10.128, 10.542]
14
+ Sample: [ 0. -0.06379467 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (455, 14, 3)
18
+ Dtype: float32
19
+ Range: [-5.178, 1.205]
20
+ Sample: [0.00238936 0.01172794 0.7911665 0.11803366 0.01129898]
21
+
22
+ body_quat_w:
23
+ Shape: (455, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.993]
26
+ Sample: [ 0.7112312 -0.00883037 -0.00456219 -0.70288795 0.7092943 ]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (455, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.853, 1.454]
32
+ Sample: [-0.00302621 0.01039287 0.0045207 -0.00268457 0.01099243]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (455, 14, 3)
36
+ Dtype: float32
37
+ Range: [-10.792, 10.693]
38
+ Sample: [ 0.00032408 -0.00011129 0.00044492 -0.00352303 0.0018626 ]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [455.000, 455.000]
50
+ Sample: [455]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: walking_quip_360_R_002__A428
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 455
8
+
9
+ Data arrays summary:
10
+ joint_pos: (455, 29) (float32)
11
+ joint_vel: (455, 29) (float32)
12
+ body_pos_w: (455, 14, 3) (float32)
13
+ body_quat_w: (455, 14, 4) (float32)
14
+ body_lin_vel_w: (455, 14, 3) (float32)
15
+ body_ang_vel_w: (455, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428_M/info.txt ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Motion Information: walking_quip_360_R_002__A428_M
2
+ ==================================================
3
+
4
+ joint_pos:
5
+ Shape: (455, 29)
6
+ Dtype: float32
7
+ Range: [-1.003, 1.403]
8
+ Sample: [ 0.01109954 0.02397734 0.06473204 0.05247362 -0.01430147]
9
+
10
+ joint_vel:
11
+ Shape: (455, 29)
12
+ Dtype: float32
13
+ Range: [-10.128, 10.542]
14
+ Sample: [-0.06343862 0. 0. 0. 0. ]
15
+
16
+ body_pos_w:
17
+ Shape: (455, 14, 3)
18
+ Dtype: float32
19
+ Range: [-5.178, 1.205]
20
+ Sample: [-0.00239508 0.01172869 0.7911661 0.1148396 0.00817287]
21
+
22
+ body_quat_w:
23
+ Shape: (455, 14, 4)
24
+ Dtype: float32
25
+ Range: [-0.707, 0.993]
26
+ Sample: [-0.702888 0.00456196 0.00883033 0.7112312 -0.70121443]
27
+
28
+ body_lin_vel_w:
29
+ Shape: (455, 14, 3)
30
+ Dtype: float32
31
+ Range: [-2.853, 1.454]
32
+ Sample: [0.00306987 0.01037478 0.00453062 0.00270815 0.00906713]
33
+
34
+ body_ang_vel_w:
35
+ Shape: (455, 14, 3)
36
+ Dtype: float32
37
+ Range: [-10.691, 10.791]
38
+ Sample: [ 0.0003236 0.00011099 -0.00044414 -0.02917245 0.00046786]
39
+
40
+ _body_indexes:
41
+ Shape: (14,)
42
+ Dtype: int64
43
+ Range: [0.000, 29.000]
44
+ Sample: [ 0 4 10 18 5]
45
+
46
+ time_step_total:
47
+ Shape: ()
48
+ Dtype: int64
49
+ Range: [455.000, 455.000]
50
+ Sample: [455]
51
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/reference/example/walking_quip_360_R_002__A428_M/metadata.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Metadata for: walking_quip_360_R_002__A428_M
2
+ ==============================
3
+
4
+ Body part indexes:
5
+ [ 0 4 10 18 5 11 19 9 16 22 28 17 23 29]
6
+
7
+ Total timesteps: 455
8
+
9
+ Data arrays summary:
10
+ joint_pos: (455, 29) (float32)
11
+ joint_vel: (455, 29) (float32)
12
+ body_pos_w: (455, 14, 3) (float32)
13
+ body_quat_w: (455, 14, 4) (float32)
14
+ body_lin_vel_w: (455, 14, 3) (float32)
15
+ body_ang_vel_w: (455, 14, 3) (float32)
16
+ _body_indexes: (14,) (int64)
17
+ time_step_total: () (int64)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/install_deps.sh ADDED
@@ -0,0 +1,926 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/bin/bash
2
+
3
+ set -e
4
+
5
+ echo "🚀 Installing G1 Deploy system dependencies..."
6
+ sudo apt-get update && sudo apt-get install -y libgtest-dev
7
+
8
+ # Detect system type and architecture
9
+ ARCH=$(uname -m)
10
+ OS_ID=$(lsb_release -si 2>/dev/null || echo "Unknown")
11
+ OS_VERSION=$(lsb_release -sr 2>/dev/null || echo "Unknown")
12
+
13
+ # Common CUDA installation paths (used by multiple functions)
14
+ CUDA_PATHS=(
15
+ "/usr/local/cuda"
16
+ "/usr/local/cuda-12.6" # CUDA 12.6 on newer Jetson
17
+ "/usr/local/cuda-12.5" # CUDA 12.5 variant
18
+ "/usr/local/cuda-12.4" # CUDA 12.4 variant
19
+ "/usr/local/cuda-12" # Generic CUDA 12.x
20
+ "/usr/local/cuda-11.4" # Common on older Jetson
21
+ "/usr/local/cuda-10.2" # Common on older Jetson
22
+ "/usr/local/cuda-11"
23
+ "/usr/local/cuda-10"
24
+ "/opt/cuda"
25
+ "/usr/cuda"
26
+ )
27
+
28
+ # Common CUDA runtime library paths (used by multiple functions)
29
+ CUDA_RUNTIME_PATHS=(
30
+ "/usr/local/cuda/lib64/libcudart.so"
31
+ "/usr/local/cuda-12.6/lib64/libcudart.so"
32
+ "/usr/local/cuda-12.5/lib64/libcudart.so"
33
+ "/usr/local/cuda-12.4/lib64/libcudart.so"
34
+ "/usr/local/cuda-12/lib64/libcudart.so"
35
+ "/usr/local/cuda-11.4/lib64/libcudart.so"
36
+ "/usr/local/cuda-10.2/lib64/libcudart.so"
37
+ "/usr/lib/aarch64-linux-gnu/libcudart.so"
38
+ "/usr/lib/x86_64-linux-gnu/libcudart.so"
39
+ "/usr/lib64/libcudart.so"
40
+ "/usr/lib/libcudart.so"
41
+ )
42
+
43
+ # Common CUDA header paths (used by multiple functions)
44
+ CUDA_HEADER_PATHS=(
45
+ "/usr/local/cuda/include/cuda_runtime.h"
46
+ "/usr/local/cuda-12.6/include/cuda_runtime.h"
47
+ "/usr/local/cuda-12.5/include/cuda_runtime.h"
48
+ "/usr/local/cuda-12.4/include/cuda_runtime.h"
49
+ "/usr/local/cuda-12/include/cuda_runtime.h"
50
+ "/usr/local/cuda-11.4/include/cuda_runtime.h"
51
+ "/usr/local/cuda-10.2/include/cuda_runtime.h"
52
+ "/usr/local/cuda-11/include/cuda_runtime.h"
53
+ "/usr/include/cuda_runtime.h"
54
+ "/usr/include/cuda/cuda_runtime.h"
55
+ )
56
+
57
+ # Common utility functions
58
+ has_cuda_in_ldconfig() {
59
+ ldconfig -p 2>/dev/null | grep -q "libcudart\|libcuda"
60
+ }
61
+
62
+ # Update package cache (with deduplication)
63
+ update_package_cache() {
64
+ if [ "$PACKAGE_MANAGER" = "apt" ] && [ "$APT_UPDATED" != "true" ]; then
65
+ sudo apt-get update
66
+ export APT_UPDATED="true"
67
+ fi
68
+ }
69
+
70
+ # Enhanced Jetson detection
71
+ IS_JETSON=false
72
+ JETSON_MODEL=""
73
+
74
+ if [[ "$ARCH" == "aarch64" ]]; then
75
+ # Check for Jetson-specific indicators
76
+ if [[ -f "/etc/nv_tegra_release" ]] || \
77
+ [[ -d "/usr/src/jetson_multimedia_api" ]] || \
78
+ ls /etc/apt/sources.list.d/ 2>/dev/null | grep -q jetson || \
79
+ [[ -f "/proc/device-tree/model" && $(cat /proc/device-tree/model 2>/dev/null) =~ "Jetson" ]]; then
80
+ IS_JETSON=true
81
+
82
+ # Detect Jetson model for optimized package selection
83
+ if [[ -f "/proc/device-tree/model" ]]; then
84
+ JETSON_MODEL=$(cat /proc/device-tree/model 2>/dev/null | tr -d '\0' | sed 's/NVIDIA //')
85
+ echo "🤖 Jetson system detected: $JETSON_MODEL"
86
+ else
87
+ echo "🤖 Jetson system detected (model unknown)"
88
+ fi
89
+
90
+ # Check JetPack version if available
91
+ if command -v jetson_release &> /dev/null; then
92
+ JETPACK_VERSION=$(jetson_release -v 2>/dev/null | grep "JETPACK" | cut -d' ' -f2 || echo "unknown")
93
+ echo "📦 JetPack version: $JETPACK_VERSION"
94
+ fi
95
+ fi
96
+ fi
97
+
98
+ echo "🔍 System: $OS_ID $OS_VERSION ($ARCH)$([ "$IS_JETSON" = true ] && echo " - Jetson")"
99
+
100
+ # Detect the operating system and package manager
101
+ if command -v apt-get &> /dev/null; then
102
+ PACKAGE_MANAGER="apt"
103
+ elif command -v yum &> /dev/null; then
104
+ PACKAGE_MANAGER="yum"
105
+ elif command -v pacman &> /dev/null; then
106
+ PACKAGE_MANAGER="pacman"
107
+ else
108
+ echo "❌ Unsupported package manager. This script supports apt, yum, and pacman."
109
+ exit 1
110
+ fi
111
+
112
+ # Function to install packages based on the package manager
113
+ install_packages() {
114
+ case $PACKAGE_MANAGER in
115
+ apt)
116
+ update_package_cache
117
+ sudo apt-get install -y "$@"
118
+ ;;
119
+ yum)
120
+ sudo yum install -y "$@"
121
+ ;;
122
+ pacman)
123
+ sudo pacman -S --noconfirm "$@"
124
+ ;;
125
+ esac
126
+ }
127
+
128
+ echo "📦 Installing base development tools..."
129
+ case $PACKAGE_MANAGER in
130
+ apt)
131
+ if [ "$IS_JETSON" = true ]; then
132
+ echo "🤖 Installing packages optimized for Jetson system..."
133
+ # Jetson systems may have some tools pre-installed
134
+ JETSON_PACKAGES="build-essential clang cmake git git-lfs pkg-config patchelf zlib1g-dev curl wget"
135
+
136
+ # Add optional packages if available
137
+ if apt-cache show cmake-format &>/dev/null; then
138
+ JETSON_PACKAGES="$JETSON_PACKAGES cmake-format"
139
+ fi
140
+ if apt-cache show cppcheck &>/dev/null; then
141
+ JETSON_PACKAGES="$JETSON_PACKAGES cppcheck"
142
+ fi
143
+
144
+ install_packages $JETSON_PACKAGES
145
+ else
146
+ install_packages \
147
+ build-essential \
148
+ clang \
149
+ cmake \
150
+ cmake-format \
151
+ cppcheck \
152
+ git \
153
+ git-lfs \
154
+ pkg-config \
155
+ patchelf \
156
+ zlib1g-dev \
157
+ curl \
158
+ wget
159
+ fi
160
+ ;;
161
+ yum)
162
+ install_packages \
163
+ gcc \
164
+ gcc-c++ \
165
+ clang \
166
+ cmake \
167
+ cppcheck \
168
+ git \
169
+ git-lfs \
170
+ pkgconfig \
171
+ patchelf \
172
+ zlib-devel \
173
+ curl \
174
+ wget
175
+ ;;
176
+ pacman)
177
+ install_packages \
178
+ base-devel \
179
+ clang \
180
+ cmake \
181
+ cppcheck \
182
+ git \
183
+ git-lfs \
184
+ pkgconf \
185
+ patchelf \
186
+ zlib \
187
+ curl \
188
+ wget
189
+ ;;
190
+ esac
191
+
192
+ echo "📚 Installing C++ libraries..."
193
+ case $PACKAGE_MANAGER in
194
+ apt)
195
+ install_packages \
196
+ libyaml-cpp-dev \
197
+ libeigen3-dev \
198
+ libmsgpack-dev \
199
+ libzmq3-dev \
200
+ nlohmann-json3-dev \
201
+ libgtest-dev
202
+ ;;
203
+ yum)
204
+ install_packages \
205
+ yaml-cpp-devel \
206
+ eigen3-devel \
207
+ msgpack-devel \
208
+ zeromq-devel \
209
+ cppzmq-devel \
210
+ nlohmann-json-devel \
211
+ gtest-devel
212
+ ;;
213
+ pacman)
214
+ install_packages \
215
+ yaml-cpp \
216
+ eigen \
217
+ msgpack-cxx \
218
+ zeromq \
219
+ cppzmq \
220
+ nlohmann-json \
221
+ gtest
222
+ ;;
223
+ esac
224
+
225
+ # Ensure ZeroMQ C++ headers (cppzmq) are available.
226
+ # On some Ubuntu releases (e.g., 24.04), the 'cppzmq' or 'libcppzmq-dev' package may be missing.
227
+ # If not found, vendor the header-only repo to third_party/cppzmq.
228
+ echo "🧩 Ensuring ZeroMQ C++ headers (cppzmq)..."
229
+
230
+ # Resolve repository root relative to this script
231
+ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
232
+ REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
233
+ THIRD_PARTY_DIR="$REPO_ROOT/third_party"
234
+
235
+ have_cppzmq_header=false
236
+ if [ -f "/usr/include/zmq.hpp" ]; then
237
+ have_cppzmq_header=true
238
+ fi
239
+
240
+ if [ "$have_cppzmq_header" = false ]; then
241
+ if [ "$PACKAGE_MANAGER" = "apt" ]; then
242
+ # Try distro packages if available
243
+ if apt-cache policy cppzmq 2>/dev/null | grep -q "Candidate:" && \
244
+ ! apt-cache policy cppzmq 2>/dev/null | grep -q "(none)"; then
245
+ update_package_cache
246
+ if sudo apt-get install -y cppzmq; then
247
+ have_cppzmq_header=true
248
+ fi
249
+ elif apt-cache policy libcppzmq-dev 2>/dev/null | grep -q "Candidate:" && \
250
+ ! apt-cache policy libcppzmq-dev 2>/dev/null | grep -q "(none)"; then
251
+ update_package_cache
252
+ if sudo apt-get install -y libcppzmq-dev; then
253
+ have_cppzmq_header=true
254
+ fi
255
+ fi
256
+ fi
257
+ fi
258
+
259
+ if [ "$have_cppzmq_header" = false ]; then
260
+ echo "📦 Vendoring header-only cppzmq into third_party..."
261
+ mkdir -p "$THIRD_PARTY_DIR"
262
+ if [ ! -d "$THIRD_PARTY_DIR/cppzmq/.git" ]; then
263
+ if git clone --depth 1 https://github.com/zeromq/cppzmq.git "$THIRD_PARTY_DIR/cppzmq"; then
264
+ echo "✅ cppzmq headers cloned to $THIRD_PARTY_DIR/cppzmq"
265
+ echo " Add include path: -I$THIRD_PARTY_DIR/cppzmq"
266
+ else
267
+ echo "❌ Failed to clone cppzmq repo. Please install headers manually."
268
+ fi
269
+ else
270
+ if git -C "$THIRD_PARTY_DIR/cppzmq" pull --ff-only; then
271
+ echo "✅ cppzmq headers updated in $THIRD_PARTY_DIR/cppzmq"
272
+ else
273
+ echo "⚠️ Failed to update cppzmq headers. Using existing copy."
274
+ fi
275
+ fi
276
+ else
277
+ echo "✅ ZeroMQ C++ headers found in system includes"
278
+ fi
279
+
280
+ # Ensure JSON headers (nlohmann/json) are available (similar to cppzmq ensure)
281
+ echo "🧩 Ensuring JSON headers (nlohmann/json)..."
282
+
283
+ have_json_header=false
284
+ if [ -f "/usr/include/nlohmann/json.hpp" ] || [ -f "/usr/local/include/nlohmann/json.hpp" ]; then
285
+ have_json_header=true
286
+ fi
287
+
288
+ if [ "$have_json_header" = false ]; then
289
+ case $PACKAGE_MANAGER in
290
+ apt)
291
+ update_package_cache
292
+ sudo apt-get install -y nlohmann-json3-dev || true
293
+ ;;
294
+ yum)
295
+ sudo yum install -y nlohmann-json-devel || true
296
+ ;;
297
+ pacman)
298
+ sudo pacman -S --noconfirm nlohmann-json || true
299
+ ;;
300
+ esac
301
+ if [ -f "/usr/include/nlohmann/json.hpp" ] || [ -f "/usr/local/include/nlohmann/json.hpp" ]; then
302
+ have_json_header=true
303
+ fi
304
+ fi
305
+
306
+ if [ "$have_json_header" = false ]; then
307
+ echo "📦 Vendoring nlohmann/json into third_party..."
308
+ # Reuse THIRD_PARTY_DIR from earlier cppzmq ensure block if set; otherwise define
309
+ if [ -z "$THIRD_PARTY_DIR" ]; then
310
+ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
311
+ REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
312
+ THIRD_PARTY_DIR="$REPO_ROOT/third_party"
313
+ fi
314
+ mkdir -p "$THIRD_PARTY_DIR"
315
+ if [ ! -d "$THIRD_PARTY_DIR/nlohmann_json/.git" ]; then
316
+ if git clone --depth 1 https://github.com/nlohmann/json.git "$THIRD_PARTY_DIR/nlohmann_json"; then
317
+ echo "✅ nlohmann/json cloned to $THIRD_PARTY_DIR/nlohmann_json"
318
+ echo " Add include path: -I$THIRD_PARTY_DIR/nlohmann_json/single_include"
319
+ else
320
+ echo "❌ Failed to clone nlohmann/json. Please install headers manually."
321
+ fi
322
+ else
323
+ if git -C "$THIRD_PARTY_DIR/nlohmann_json" pull --ff-only; then
324
+ echo "✅ nlohmann/json updated in $THIRD_PARTY_DIR/nlohmann_json"
325
+ else
326
+ echo "⚠️ Failed to update nlohmann/json. Using existing copy."
327
+ fi
328
+ fi
329
+ else
330
+ echo "✅ JSON headers found in system includes"
331
+ fi
332
+
333
+ # Install Just command runner
334
+ echo "⚡ Installing Just command runner..."
335
+ if ! command -v just &> /dev/null; then
336
+ case $PACKAGE_MANAGER in
337
+ apt|yum)
338
+ # Install Just from GitHub releases for Ubuntu/Debian and RHEL/CentOS
339
+ JUST_VERSION="1.43.0"
340
+ JUST_ARCH=$(uname -m)
341
+
342
+ # Map architecture names to just release naming
343
+ case $JUST_ARCH in
344
+ x86_64)
345
+ JUST_ARCH_NAME="x86_64-unknown-linux-musl"
346
+ ;;
347
+ aarch64|arm64)
348
+ JUST_ARCH_NAME="aarch64-unknown-linux-musl"
349
+ ;;
350
+ armv7l)
351
+ JUST_ARCH_NAME="armv7-unknown-linux-musleabihf"
352
+ ;;
353
+ arm*)
354
+ JUST_ARCH_NAME="arm-unknown-linux-musleabihf"
355
+ ;;
356
+ *)
357
+ echo "❌ Unsupported architecture for just: $JUST_ARCH"
358
+ echo " Supported architectures: x86_64, aarch64, armv7l, arm"
359
+ exit 1
360
+ ;;
361
+ esac
362
+
363
+ echo "📥 Downloading Just ${JUST_VERSION} for ${JUST_ARCH}..."
364
+ JUST_URL="https://github.com/casey/just/releases/download/${JUST_VERSION}/just-${JUST_VERSION}-${JUST_ARCH_NAME}.tar.gz"
365
+ curl -L "$JUST_URL" | tar xz -C /tmp
366
+ sudo mv /tmp/just /usr/local/bin/
367
+ ;;
368
+ pacman)
369
+ install_packages just
370
+ ;;
371
+ esac
372
+ else
373
+ echo "✅ Just is already installed"
374
+ fi
375
+
376
+ # Install ONNX Runtime
377
+ echo "🧠 Setting up ONNX Runtime..."
378
+
379
+ # Allow configurable installation path
380
+ ONNX_INSTALL_PATH="${ONNX_INSTALL_PATH:-/opt/onnxruntime}"
381
+
382
+ if [ ! -d "$ONNX_INSTALL_PATH" ]; then
383
+ ONNX_VERSION="1.16.3"
384
+ ONNX_ARCH=$(uname -m)
385
+
386
+ if [ "$ONNX_ARCH" = "x86_64" ]; then
387
+ ONNX_URL="https://github.com/microsoft/onnxruntime/releases/download/v${ONNX_VERSION}/onnxruntime-linux-x64-${ONNX_VERSION}.tgz"
388
+ elif [ "$ONNX_ARCH" = "aarch64" ]; then
389
+ # Same URL for all ARM64 systems (Jetson and regular ARM64)
390
+ ONNX_URL="https://github.com/microsoft/onnxruntime/releases/download/v${ONNX_VERSION}/onnxruntime-linux-aarch64-${ONNX_VERSION}.tgz"
391
+ if [ "$IS_JETSON" = true ]; then
392
+ echo "🤖 Jetson system detected - using ARM64 ONNX Runtime..."
393
+ fi
394
+ else
395
+ echo "❌ Unsupported architecture: $ONNX_ARCH"
396
+ exit 1
397
+ fi
398
+
399
+ echo "📥 Downloading ONNX Runtime ${ONNX_VERSION} for ${ONNX_ARCH}$([ "$IS_JETSON" = true ] && echo " (Jetson-optimized)")..."
400
+ cd /tmp
401
+
402
+ # Download with retry for Jetson systems (sometimes have slower network)
403
+ if [ "$IS_JETSON" = true ]; then
404
+ curl -L --retry 3 --retry-delay 2 "$ONNX_URL" -o onnxruntime.tgz
405
+ else
406
+ curl -L "$ONNX_URL" -o onnxruntime.tgz
407
+ fi
408
+
409
+ tar xzf onnxruntime.tgz
410
+
411
+ # Move to configured location (may need sudo for system paths)
412
+ ONNX_DIR=$(ls -d onnxruntime-linux-* | head -n1)
413
+
414
+ if [[ "$ONNX_INSTALL_PATH" =~ ^(/opt|/usr) ]]; then
415
+ # System path - needs sudo
416
+ sudo mv "$ONNX_DIR" "$ONNX_INSTALL_PATH"
417
+ sudo ln -sf "$ONNX_INSTALL_PATH/lib/libonnxruntime.so" /usr/local/lib/ 2>/dev/null || true
418
+ sudo ln -sf "$ONNX_INSTALL_PATH/include" /usr/local/include/onnxruntime 2>/dev/null || true
419
+ echo "$ONNX_INSTALL_PATH/lib" | sudo tee /etc/ld.so.conf.d/onnxruntime.conf
420
+ sudo ldconfig
421
+ else
422
+ # User path - no sudo needed
423
+ mv "$ONNX_DIR" "$ONNX_INSTALL_PATH"
424
+ # Create user-accessible symlinks if possible
425
+ if [ -w /usr/local/lib ]; then
426
+ ln -sf "$ONNX_INSTALL_PATH/lib/libonnxruntime.so" /usr/local/lib/ 2>/dev/null || true
427
+ fi
428
+ fi
429
+
430
+ # For Jetson systems, add to environment
431
+ if [ "$IS_JETSON" = true ]; then
432
+ echo "# ONNX Runtime for Jetson" | sudo tee -a /etc/environment
433
+ echo "LD_LIBRARY_PATH=\"$ONNX_INSTALL_PATH/lib:\$LD_LIBRARY_PATH\"" | sudo tee -a /etc/environment
434
+ fi
435
+
436
+ echo "✅ ONNX Runtime installed to $ONNX_INSTALL_PATH$([ "$IS_JETSON" = true ] && echo " with Jetson optimizations")"
437
+ else
438
+ echo "✅ ONNX Runtime is already installed at $ONNX_INSTALL_PATH"
439
+ fi
440
+
441
+ echo "💡 To install to a different location, set ONNX_INSTALL_PATH environment variable"
442
+
443
+ # Function to check for CUDA toolkit (nvcc compiler) - silent check
444
+ check_cuda_toolkit() {
445
+ # Check for nvcc in PATH
446
+ if command -v nvcc &> /dev/null; then
447
+ return 0
448
+ fi
449
+
450
+ # Check common CUDA installation paths (using shared variable)
451
+
452
+ for cuda_path in "${CUDA_PATHS[@]}"; do
453
+ if [ -f "$cuda_path/bin/nvcc" ]; then
454
+ return 0
455
+ fi
456
+ done
457
+
458
+ return 1
459
+ }
460
+
461
+ # Function to check for CUDA runtime libraries AND headers (needed for compilation)
462
+ check_cuda_runtime() {
463
+ # Check for CUDA runtime libraries
464
+ local has_libraries=false
465
+ if has_cuda_in_ldconfig; then
466
+ has_libraries=true
467
+ else
468
+ # Check specific paths for runtime libraries (using shared variable)
469
+ for lib_path in "${CUDA_RUNTIME_PATHS[@]}"; do
470
+ if [ -f "$lib_path" ]; then
471
+ has_libraries=true
472
+ break
473
+ fi
474
+ done
475
+ fi
476
+
477
+ # Check for CUDA headers (essential for compilation) - using shared variable
478
+ local has_headers=false
479
+ for header_path in "${CUDA_HEADER_PATHS[@]}"; do
480
+ if [ -f "$header_path" ]; then
481
+ has_headers=true
482
+ break
483
+ fi
484
+ done
485
+
486
+ # Need both libraries and headers
487
+ if [ "$has_libraries" = true ] && [ "$has_headers" = true ]; then
488
+ return 0
489
+ else
490
+ return 1
491
+ fi
492
+ }
493
+
494
+ # Check what CUDA components we have and provide clear, non-confusing output
495
+ echo "🔍 Checking CUDA installation..."
496
+
497
+
498
+ # Function to handle non-Jetson ARM64 systems
499
+ install_cuda_for_arm64() {
500
+ echo "🔧 Installing CUDA packages for ARM64 system..."
501
+
502
+ if sudo apt-get install -y cuda-cudart-dev-12-2 cuda-runtime-12-2 2>/dev/null || \
503
+ sudo apt-get install -y cuda-cudart-dev-11-8 cuda-runtime-11-8 2>/dev/null || \
504
+ sudo apt-get install -y libcudart-dev nvidia-cuda-runtime-cu12 2>/dev/null; then
505
+ echo "✅ CUDA runtime and development packages installed for ARM64!"
506
+ return 0
507
+ else
508
+ echo "❌ Failed to install CUDA packages for ARM64 system"
509
+ return 1
510
+ fi
511
+ }
512
+
513
+ # Function to handle x86_64 systems
514
+ install_cuda_for_x86_64() {
515
+ echo "🔧 Installing CUDA packages for x86_64 system..."
516
+
517
+ # Detect CUDA version from nvidia-smi if available
518
+ local DETECTED_CUDA_VERSION=""
519
+ if command -v nvidia-smi &> /dev/null; then
520
+ DETECTED_CUDA_VERSION=$(nvidia-smi | grep "CUDA Version:" | sed 's/.*CUDA Version: \([0-9]\+\.[0-9]\+\).*/\1/' | head -n1)
521
+ if [ -n "$DETECTED_CUDA_VERSION" ]; then
522
+ echo "📍 Detected CUDA $DETECTED_CUDA_VERSION from nvidia-smi"
523
+ fi
524
+ fi
525
+
526
+ # Check if NVIDIA CUDA repository is configured
527
+ local has_cuda_repo=false
528
+ if [ -f /etc/apt/sources.list.d/cuda*.list ] || \
529
+ grep -r "developer.download.nvidia.com/compute/cuda" /etc/apt/sources.list* &>/dev/null; then
530
+ has_cuda_repo=true
531
+ fi
532
+
533
+ # Add NVIDIA CUDA repository if not present
534
+ if [ "$has_cuda_repo" = false ]; then
535
+ echo "📦 NVIDIA CUDA repository not found, adding it now..."
536
+
537
+ # Detect Ubuntu version for correct repository
538
+ local ubuntu_version=""
539
+ if [ "$OS_ID" = "Ubuntu" ]; then
540
+ case "$OS_VERSION" in
541
+ 22.04)
542
+ ubuntu_version="ubuntu2204"
543
+ ;;
544
+ 20.04)
545
+ ubuntu_version="ubuntu2004"
546
+ ;;
547
+ 24.04)
548
+ ubuntu_version="ubuntu2404"
549
+ ;;
550
+ *)
551
+ # Default to 22.04 for unknown versions
552
+ ubuntu_version="ubuntu2204"
553
+ echo "⚠️ Ubuntu $OS_VERSION detected, using ubuntu2204 repository (may need adjustment)"
554
+ ;;
555
+ esac
556
+ else
557
+ ubuntu_version="ubuntu2204"
558
+ echo "⚠️ Non-Ubuntu system detected, using ubuntu2204 repository (may not work)"
559
+ fi
560
+
561
+ # Download and install CUDA keyring
562
+ local cuda_keyring_url="https://developer.download.nvidia.com/compute/cuda/repos/${ubuntu_version}/x86_64/cuda-keyring_1.1-1_all.deb"
563
+
564
+ if [ -f /tmp/cuda-keyring.deb ]; then
565
+ rm /tmp/cuda-keyring.deb
566
+ fi
567
+
568
+ echo "📥 Downloading CUDA repository keyring for $ubuntu_version..."
569
+ if wget -q "$cuda_keyring_url" -O /tmp/cuda-keyring.deb 2>/dev/null; then
570
+ if sudo dpkg -i /tmp/cuda-keyring.deb 2>/dev/null; then
571
+ echo "✅ NVIDIA CUDA repository keyring installed"
572
+ # Force apt-get update after adding new repository
573
+ echo "🔄 Updating package cache with new CUDA repository..."
574
+ sudo apt-get update
575
+ has_cuda_repo=true
576
+ else
577
+ echo "⚠️ Failed to install CUDA keyring"
578
+ fi
579
+ rm -f /tmp/cuda-keyring.deb
580
+ else
581
+ echo "⚠️ Failed to download CUDA keyring from $cuda_keyring_url"
582
+ fi
583
+
584
+ # If keyring install failed, provide manual instructions
585
+ if [ "$has_cuda_repo" = false ]; then
586
+ echo ""
587
+ echo "⚠️ Automatic CUDA repository setup failed. Please add it manually:"
588
+ echo " wget https://developer.download.nvidia.com/compute/cuda/repos/${ubuntu_version}/x86_64/cuda-keyring_1.1-1_all.deb"
589
+ echo " sudo dpkg -i cuda-keyring_1.1-1_all.deb"
590
+ echo " sudo apt-get update"
591
+ echo ""
592
+ fi
593
+ else
594
+ echo "✅ NVIDIA CUDA repository already configured"
595
+ fi
596
+
597
+ # Try to install CUDA packages - prioritize detected version
598
+ local cuda_installed=false
599
+
600
+ if [ -n "$DETECTED_CUDA_VERSION" ]; then
601
+ # Convert version like "12.4" to package suffix like "12-4"
602
+ local version_suffix=$(echo "$DETECTED_CUDA_VERSION" | sed 's/\./-/')
603
+ echo "🎯 Attempting to install CUDA $DETECTED_CUDA_VERSION packages..."
604
+
605
+ # IMPORTANT: We need BOTH cuda-compiler (for complete headers) AND cuda-cudart-dev (for runtime)
606
+ # Try to install both together first
607
+ echo "📦 Installing cuda-compiler-${version_suffix} and cuda-cudart-dev-${version_suffix}..."
608
+ if sudo apt-get install -y cuda-compiler-${version_suffix} cuda-cudart-dev-${version_suffix}; then
609
+ echo "✅ CUDA $DETECTED_CUDA_VERSION compiler and runtime development packages installed!"
610
+ cuda_installed=true
611
+ else
612
+ # If combined install fails, try separately
613
+ echo "⚠️ Combined install failed, trying packages separately..."
614
+ local compiler_installed=false
615
+ local cudart_installed=false
616
+
617
+ if sudo apt-get install -y cuda-compiler-${version_suffix}; then
618
+ echo "✅ cuda-compiler-${version_suffix} installed"
619
+ compiler_installed=true
620
+ else
621
+ echo "❌ Failed to install cuda-compiler-${version_suffix}"
622
+ fi
623
+
624
+ if sudo apt-get install -y cuda-cudart-dev-${version_suffix}; then
625
+ echo "✅ cuda-cudart-dev-${version_suffix} installed"
626
+ cudart_installed=true
627
+ else
628
+ echo "❌ Failed to install cuda-cudart-dev-${version_suffix}"
629
+ fi
630
+
631
+ if [ "$compiler_installed" = true ] || [ "$cudart_installed" = true ]; then
632
+ if [ "$compiler_installed" = false ]; then
633
+ echo "⚠️ Warning: cuda-compiler not installed - headers may be incomplete!"
634
+ fi
635
+ if [ "$cudart_installed" = false ]; then
636
+ echo "⚠️ Warning: cuda-cudart-dev not installed - runtime dev files missing!"
637
+ fi
638
+ cuda_installed=true
639
+ fi
640
+ fi
641
+
642
+ # If version-specific install failed, try toolkit
643
+ if [ "$cuda_installed" = false ]; then
644
+ echo "📦 Trying cuda-toolkit-${version_suffix} as fallback..."
645
+ if sudo apt-get install -y cuda-toolkit-${version_suffix}; then
646
+ echo "✅ CUDA $DETECTED_CUDA_VERSION toolkit installed!"
647
+ cuda_installed=true
648
+ fi
649
+ fi
650
+ fi
651
+
652
+ # Fall back to trying various package names if version-specific install failed
653
+ if [ "$cuda_installed" = false ]; then
654
+ echo "🔄 Trying generic CUDA package installation..."
655
+
656
+ # List available CUDA packages for debugging
657
+ echo "🔍 Checking available CUDA packages..."
658
+ local available_cuda_pkgs=$(apt-cache search "^cuda-cudart-dev" 2>/dev/null | head -5)
659
+ if [ -n "$available_cuda_pkgs" ]; then
660
+ echo " Found packages:"
661
+ echo "$available_cuda_pkgs" | sed 's/^/ /'
662
+ fi
663
+
664
+ # Try installing with specific version numbers first, then fall back to generic
665
+ # Always try to get both compiler (for headers) and cudart-dev (for runtime)
666
+ if sudo apt-get install -y cuda-compiler-12-4 cuda-cudart-dev-12-4; then
667
+ echo "✅ CUDA 12.4 compiler and runtime development installed!"
668
+ cuda_installed=true
669
+ elif sudo apt-get install -y cuda-compiler-12-6 cuda-cudart-dev-12-6; then
670
+ echo "✅ CUDA 12.6 compiler and runtime development installed!"
671
+ cuda_installed=true
672
+ elif sudo apt-get install -y cuda-compiler-12-2 cuda-cudart-dev-12-2; then
673
+ echo "✅ CUDA 12.2 compiler and runtime development installed!"
674
+ cuda_installed=true
675
+ elif sudo apt-get install -y cuda-compiler-12-0 cuda-cudart-dev-12-0; then
676
+ echo "✅ CUDA 12.0 compiler and runtime development installed!"
677
+ cuda_installed=true
678
+ elif sudo apt-get install -y cuda-toolkit-12-4; then
679
+ echo "✅ CUDA 12.4 toolkit installed!"
680
+ cuda_installed=true
681
+ elif sudo apt-get install -y cuda-toolkit-12-6; then
682
+ echo "✅ CUDA 12.6 toolkit installed!"
683
+ cuda_installed=true
684
+ elif sudo apt-get install -y cuda-toolkit; then
685
+ echo "✅ CUDA toolkit (latest) installed!"
686
+ cuda_installed=true
687
+ elif sudo apt-get install -y cuda; then
688
+ echo "✅ CUDA (full package) installed!"
689
+ cuda_installed=true
690
+ fi
691
+ fi
692
+
693
+ if [ "$cuda_installed" = true ]; then
694
+ return 0
695
+ else
696
+ echo "❌ Failed to install CUDA packages for x86_64 system"
697
+ echo " 💡 You may need to manually install CUDA toolkit from:"
698
+ echo " https://developer.nvidia.com/cuda-downloads"
699
+ return 1
700
+ fi
701
+ }
702
+
703
+ # CUDA detection and installation - optimized for Jetson systems
704
+ install_cuda_for_jetson() {
705
+ echo "🚀 Installing CUDA development packages for Jetson..."
706
+
707
+ # First, try to install CUDA development headers for existing CUDA installation
708
+ local success=false
709
+
710
+ # Check if we can install from JetPack repositories (try newer versions first)
711
+ if sudo apt-get install -y nvidia-jetpack-dev 2>/dev/null; then
712
+ echo "✅ JetPack development packages installed!"
713
+ success=true
714
+ elif sudo apt-get install -y cuda-toolkit-12-6-dev 2>/dev/null || \
715
+ sudo apt-get install -y cuda-toolkit-12-5-dev 2>/dev/null || \
716
+ sudo apt-get install -y cuda-toolkit-12-4-dev 2>/dev/null || \
717
+ sudo apt-get install -y cuda-toolkit-11-4-dev 2>/dev/null || \
718
+ sudo apt-get install -y cuda-toolkit-10-2-dev 2>/dev/null; then
719
+ echo "✅ CUDA toolkit development packages installed!"
720
+ success=true
721
+ elif sudo apt-get install -y cuda-compiler-12-6 cuda-cudart-dev-12-6 2>/dev/null || \
722
+ sudo apt-get install -y cuda-compiler-12-5 cuda-cudart-dev-12-5 2>/dev/null || \
723
+ sudo apt-get install -y cuda-compiler-12-4 cuda-cudart-dev-12-4 2>/dev/null || \
724
+ sudo apt-get install -y cuda-compiler-11-4 cuda-cudart-dev-11-4 2>/dev/null || \
725
+ sudo apt-get install -y cuda-compiler-10-2 cuda-cudart-dev-10-2 2>/dev/null; then
726
+ echo "✅ CUDA compiler and runtime dev packages installed!"
727
+ success=true
728
+ else
729
+ # Try generic packages that might work
730
+ echo "⚠️ Jetson-specific packages not found. Trying generic CUDA packages..."
731
+ if sudo apt-get install -y cuda-cudart-dev libcuda1-dev 2>/dev/null || \
732
+ sudo apt-get install -y cuda-toolkit 2>/dev/null; then
733
+ echo "✅ Generic CUDA development packages installed!"
734
+ success=true
735
+ fi
736
+ fi
737
+
738
+ # If all else fails, try to create symlinks to existing CUDA installation
739
+ if [ "$success" = false ]; then
740
+ echo "⚠️ Package installation failed. Trying to link existing CUDA installation..."
741
+
742
+ # Find existing CUDA installation (using shared variable)
743
+ for cuda_dir in "${CUDA_PATHS[@]}"; do
744
+ if [ -d "$cuda_dir/include" ]; then
745
+ echo "📍 Found CUDA at $cuda_dir, creating development symlinks..."
746
+ sudo mkdir -p /usr/include/cuda
747
+ sudo ln -sf $cuda_dir/include/* /usr/include/cuda/ 2>/dev/null || true
748
+ sudo ln -sf $cuda_dir/include/cuda_runtime.h /usr/include/ 2>/dev/null || true
749
+ echo "✅ CUDA headers linked successfully!"
750
+ success=true
751
+ break
752
+ fi
753
+ done
754
+ fi
755
+
756
+ return $([ "$success" = true ] && echo 0 || echo 1)
757
+ }
758
+
759
+ # Check CUDA installation status
760
+ if check_cuda_toolkit; then
761
+ if command -v nvcc &> /dev/null; then
762
+ CUDA_VERSION=$(nvcc --version | grep "release" | sed 's/.*release \([0-9]\+\.[0-9]\+\).*/\1/')
763
+ echo "✅ CUDA Toolkit found: nvcc version $CUDA_VERSION"
764
+ else
765
+ # Found in custom path - add to PATH suggestion (using shared variable)
766
+ for cuda_path in "${CUDA_PATHS[@]}"; do
767
+ if [ -f "$cuda_path/bin/nvcc" ]; then
768
+ CUDA_VERSION=$($cuda_path/bin/nvcc --version | grep "release" | sed 's/.*release \([0-9]\+\.[0-9]\+\).*/\1/' 2>/dev/null || echo "unknown")
769
+ echo "✅ CUDA Toolkit found at: $cuda_path (version $CUDA_VERSION)"
770
+ echo " 💡 Consider adding $cuda_path/bin to your PATH"
771
+ break
772
+ fi
773
+ done
774
+ fi
775
+
776
+ # Even with toolkit found, verify runtime libraries and headers are available
777
+ echo "🔍 Verifying CUDA runtime libraries and headers are complete..."
778
+ if check_cuda_runtime; then
779
+ echo "✅ CUDA toolkit is complete with runtime libraries and headers!"
780
+ else
781
+ echo "⚠️ CUDA toolkit found but runtime libraries/headers missing!"
782
+
783
+ if [ "$IS_JETSON" = true ]; then
784
+ echo "🤖 Installing missing CUDA runtime development packages for Jetson..."
785
+ if install_cuda_for_jetson; then
786
+ echo "✅ Jetson CUDA runtime packages installed successfully!"
787
+ else
788
+ echo "❌ Jetson CUDA runtime installation failed"
789
+ echo " 💡 System may already have working CUDA runtime"
790
+ fi
791
+ fi
792
+ fi
793
+ elif check_cuda_runtime; then
794
+ echo "✅ CUDA runtime libraries and headers found (sufficient for this project!)"
795
+ echo " ℹ️ Full toolkit not detected, but runtime + headers are all you need"
796
+ else
797
+ # CUDA components missing - install them
798
+ echo "⚠️ CUDA components missing or incomplete. Installing CUDA runtime libraries..."
799
+
800
+ if [ "$IS_JETSON" = true ]; then
801
+ echo "🤖 Installing CUDA runtime development packages for Jetson..."
802
+ update_package_cache
803
+
804
+ # Install CUDA runtime development packages for Jetson
805
+ if sudo apt install -y cuda-cudart-dev-12-6 cuda-headers-12-6 2>/dev/null; then
806
+ echo "✅ CUDA 12.6 development packages installed!"
807
+ elif sudo apt install -y cuda-cudart-dev cuda-toolkit-12-6 2>/dev/null; then
808
+ echo "✅ CUDA development packages installed!"
809
+ elif sudo apt install -y libcudart-dev cuda-toolkit 2>/dev/null; then
810
+ echo "✅ Generic CUDA development packages installed!"
811
+ else
812
+ echo "❌ Failed to install CUDA development packages"
813
+ echo " Try manually: sudo apt install -y cuda-cudart-dev-12-6"
814
+ fi
815
+ else
816
+ # Non-Jetson installation logic (existing)
817
+ if [[ "$ARCH" == "aarch64" ]]; then
818
+ install_cuda_for_arm64
819
+ elif [[ "$ARCH" == "x86_64" ]]; then
820
+ install_cuda_for_x86_64
821
+ fi
822
+ fi
823
+
824
+ # Verify CUDA is now available
825
+ echo "🔍 Verifying CUDA installation after package installation..."
826
+ if check_cuda_runtime; then
827
+ echo "✅ CUDA runtime and headers now available!"
828
+ else
829
+ echo "❌ CUDA verification still failing - manual intervention may be needed"
830
+ fi
831
+ fi
832
+
833
+ # Initialize Git LFS
834
+ echo "📁 Setting up Git LFS..."
835
+ if git lfs install --force 2>/dev/null; then
836
+ echo "✅ Git LFS hooks installed successfully"
837
+ else
838
+ echo "⚠️ Git LFS hook installation had issues, trying manual resolution..."
839
+ # Try to update existing hooks
840
+ if git lfs update --force 2>/dev/null; then
841
+ echo "✅ Git LFS hooks updated successfully"
842
+ else
843
+ echo "⚠️ Git LFS hooks may need manual attention"
844
+ echo " You can run 'git lfs update --force' later if needed"
845
+ fi
846
+ fi
847
+
848
+ echo ""
849
+ echo "🎉 System dependencies installation complete!"
850
+ echo ""
851
+
852
+ if [ "$IS_JETSON" = true ]; then
853
+ echo "🤖 Jetson-specific setup completed!"
854
+ echo ""
855
+ echo "📋 Next steps for Jetson system:"
856
+ echo " 1. Ensure TensorRT is available (usually pre-installed with JetPack)"
857
+ echo " 2. Run 'source scripts/setup_env.sh' to configure paths for Jetson"
858
+ echo " 3. Run 'just build' to build the project"
859
+ echo ""
860
+ echo "💡 Jetson tips:"
861
+ echo " - CUDA is typically pre-installed at /usr/local/cuda-12.6, /usr/local/cuda-11.4 or /usr/local/cuda-10.2"
862
+ echo " - TensorRT is usually available at /usr/lib/aarch64-linux-gnu/"
863
+ echo " - If build fails, you may need to install JetPack SDK development components"
864
+ echo " - Monitor system temperature during compilation (use 'tegrastats')"
865
+ echo " - For CUDA 12.6 systems, ensure you have the latest JetPack SDK Manager"
866
+ echo ""
867
+
868
+ # Install JetPack for Jetson systems (includes all DLA libraries)
869
+ echo "🔧 Installing JetPack for complete Jetson development environment..."
870
+
871
+ update_package_cache
872
+
873
+ if sudo apt install -y nvidia-jetpack; then
874
+ echo "✅ JetPack installed successfully - includes all DLA libraries!"
875
+ echo " This resolves all TensorRT DLA dependencies"
876
+ else
877
+ echo "⚠️ JetPack installation failed (may have version conflicts)"
878
+ echo " 💡 Try: sudo apt update && sudo apt install -y nvidia-jetpack"
879
+ echo " 🔄 If issues persist, build should still work with existing libraries"
880
+ fi
881
+ else
882
+ # Non-Jetson systems
883
+ echo "📋 Next steps for $ARCH system:"
884
+ echo " 1. Make sure TensorRT is installed and TensorRT_ROOT is set"
885
+ echo " 2. Run 'source scripts/setup_env.sh' to set up the environment"
886
+ echo " 3. Run 'just build' to build the project"
887
+ echo ""
888
+
889
+ if [[ "$ARCH" == "aarch64" ]]; then
890
+ echo "💡 ARM64 tips:"
891
+ echo " - CUDA may be installed at /usr/local/cuda or system locations"
892
+ echo " - TensorRT typically installed via package manager"
893
+ echo " - DLA libraries not needed on non-Jetson ARM64 systems"
894
+ elif [[ "$ARCH" == "x86_64" ]]; then
895
+ echo "💡 x86_64 tips:"
896
+ echo " - CUDA typically at /usr/local/cuda or via CUDA toolkit"
897
+ echo " - TensorRT available from NVIDIA or package repositories"
898
+ echo " - Use nvidia-smi to check GPU compatibility"
899
+ echo " - DLA libraries typically not needed on desktop GPUs"
900
+ fi
901
+ fi
902
+
903
+ echo ""
904
+ echo "⚠️ If you encounter any issues:"
905
+ if [ "$IS_JETSON" = true ]; then
906
+ echo " 🤖 Jetson-specific troubleshooting:"
907
+ echo " - Check JetPack version: jetson_release"
908
+ echo " - Verify CUDA installation: ls -la /usr/local/cuda*"
909
+ echo " - Monitor resources: tegrastats"
910
+ echo " - For DLA linking errors: Install full JetPack SDK"
911
+ echo " - For help: https://developer.nvidia.com/embedded/jetpack"
912
+ elif [[ "$ARCH" == "aarch64" ]]; then
913
+ echo " 🔧 ARM64 troubleshooting:"
914
+ echo " - Check CUDA: ls -la /usr/local/cuda*"
915
+ echo " - Verify libraries: ldconfig -p | grep cuda"
916
+ echo " - DLA errors: DLA not supported on non-Jetson ARM64"
917
+ elif [[ "$ARCH" == "x86_64" ]]; then
918
+ echo " 🖥️ x86_64 troubleshooting:"
919
+ echo " - Check GPU: nvidia-smi"
920
+ echo " - Verify CUDA: nvcc --version"
921
+ echo " - Check environment: echo \$CUDA_HOME \$TensorRT_ROOT"
922
+ echo " - DLA errors: DLA typically not supported on desktop GPUs"
923
+ else
924
+ echo " - Check that all environment variables are set correctly"
925
+ echo " - Verify CUDA installation for your architecture"
926
+ fi
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/install_ros2_humble.sh ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/bin/bash
2
+
3
+ set -e
4
+
5
+ echo "🤖 Installing ROS2 Humble..."
6
+
7
+ # Detect system type and architecture
8
+ ARCH=$(uname -m)
9
+ OS_ID=$(lsb_release -si 2>/dev/null || echo "Unknown")
10
+ OS_VERSION=$(lsb_release -sr 2>/dev/null || echo "Unknown")
11
+
12
+ echo "🔍 System: $OS_ID $OS_VERSION ($ARCH)"
13
+
14
+ # Check if running Ubuntu (ROS2 Humble officially supports Ubuntu 22.04)
15
+ if [ "$OS_ID" != "Ubuntu" ]; then
16
+ echo "⚠️ Warning: ROS2 Humble is officially supported on Ubuntu 22.04 (Jammy Jellyfish)"
17
+ echo " Your system ($OS_ID $OS_VERSION) may have compatibility issues"
18
+ read -p "Continue anyway? (y/N) " -n 1 -r
19
+ echo
20
+ if [[ ! $REPLY =~ ^[Yy]$ ]]; then
21
+ exit 1
22
+ fi
23
+ fi
24
+
25
+ if [ "$OS_VERSION" != "22.04" ] && [ "$OS_ID" = "Ubuntu" ]; then
26
+ echo "⚠️ Warning: ROS2 Humble is officially supported on Ubuntu 22.04"
27
+ echo " Your version ($OS_VERSION) may have compatibility issues"
28
+ read -p "Continue anyway? (y/N) " -n 1 -r
29
+ echo
30
+ if [[ ! $REPLY =~ ^[Yy]$ ]]; then
31
+ exit 1
32
+ fi
33
+ fi
34
+
35
+
36
+
37
+ # Set locale
38
+ echo "🌍 Setting up locale..."
39
+ sudo apt-get update
40
+ sudo apt-get install -y locales
41
+ sudo locale-gen en_US en_US.UTF-8
42
+ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
43
+ export LANG=en_US.UTF-8
44
+
45
+ echo "✅ Locale configured"
46
+
47
+ # Enable Ubuntu Universe repository
48
+ echo "📦 Enabling Ubuntu Universe repository..."
49
+ sudo apt-get install -y software-properties-common
50
+ sudo add-apt-repository universe -y
51
+
52
+ # Add ROS2 GPG key
53
+ echo "🔑 Adding ROS2 GPG key..."
54
+ sudo apt-get update
55
+ sudo apt-get install -y curl gnupg lsb-release
56
+
57
+ if [ ! -f /usr/share/keyrings/ros-archive-keyring.gpg ]; then
58
+ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
59
+ echo "✅ ROS2 GPG key added"
60
+ else
61
+ echo "✅ ROS2 GPG key already exists"
62
+ fi
63
+
64
+ # Add ROS2 repository to sources list
65
+ echo "📋 Adding ROS2 repository..."
66
+ ROS2_LIST="/etc/apt/sources.list.d/ros2.list"
67
+
68
+ if [ ! -f "$ROS2_LIST" ]; then
69
+ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee $ROS2_LIST > /dev/null
70
+ echo "✅ ROS2 repository added"
71
+ else
72
+ echo "✅ ROS2 repository already configured"
73
+ fi
74
+
75
+ # Update apt cache
76
+ echo "🔄 Updating package cache..."
77
+ sudo apt-get update
78
+
79
+ # Upgrade packages (optional but recommended)
80
+ echo "⬆️ Upgrading packages..."
81
+ sudo apt-get upgrade -y
82
+
83
+ # Install ROS2 Humble Desktop (full installation with GUI tools)
84
+ echo "📦 Installing ROS2 Humble Desktop..."
85
+ echo " This may take several minutes..."
86
+
87
+ if sudo apt-get install -y ros-humble-desktop; then
88
+ echo "✅ ROS2 Humble Desktop installed successfully!"
89
+ else
90
+ echo "❌ Failed to install ROS2 Humble Desktop"
91
+ echo " Trying ROS2 Humble Base instead..."
92
+ if sudo apt-get install -y ros-humble-ros-base; then
93
+ echo "✅ ROS2 Humble Base installed successfully!"
94
+ else
95
+ echo "❌ Failed to install ROS2 Humble"
96
+ exit 1
97
+ fi
98
+ fi
99
+
100
+ # Install development tools
101
+ echo "🔧 Installing ROS2 development tools..."
102
+ sudo apt-get install -y \
103
+ ros-dev-tools \
104
+ python3-colcon-common-extensions \
105
+ python3-rosdep \
106
+ python3-vcstool \
107
+ python3-argcomplete
108
+
109
+ echo "✅ Development tools installed"
110
+
111
+ # Initialize rosdep
112
+ echo "🔧 Initializing rosdep..."
113
+ if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
114
+ sudo rosdep init
115
+ echo "✅ rosdep initialized"
116
+ else
117
+ echo "✅ rosdep already initialized"
118
+ fi
119
+
120
+ rosdep update
121
+ echo "✅ rosdep updated"
122
+
123
+ # Set up environment
124
+ echo "🌱 Setting up ROS2 environment..."
125
+
126
+ SETUP_SCRIPT="/opt/ros/humble/setup.bash"
127
+ BASHRC="$HOME/.bashrc"
128
+
129
+ # Check if ROS2 sourcing is already in .bashrc
130
+ if ! grep -q "source $SETUP_SCRIPT" "$BASHRC"; then
131
+ echo "" >> "$BASHRC"
132
+ echo "# ROS2 Humble setup" >> "$BASHRC"
133
+ echo "source $SETUP_SCRIPT" >> "$BASHRC"
134
+ echo "✅ Added ROS2 Humble to .bashrc"
135
+ else
136
+ echo "✅ ROS2 Humble already in .bashrc"
137
+ fi
138
+
139
+ # Source ROS2 setup for current session
140
+ source $SETUP_SCRIPT
141
+
142
+ echo ""
143
+ echo "🎉 ROS2 Humble installation complete!"
144
+ echo ""
145
+ echo "📋 Installation Summary:"
146
+ echo " - ROS2 Humble Desktop: Installed"
147
+ echo " - Development tools: Installed"
148
+ echo " - rosdep: Initialized and updated"
149
+ echo " - Environment: Configured in ~/.bashrc"
150
+ echo ""
151
+ echo "🚀 Next steps:"
152
+ echo " 1. Open a new terminal or run: source ~/.bashrc"
153
+ echo " 2. Verify installation: ros2 --help"
154
+ echo " 3. Test with: ros2 run demo_nodes_cpp talker"
155
+ echo ""
156
+ echo "📚 Useful commands:"
157
+ echo " - Check ROS2 version: ros2 --version"
158
+ echo " - List available packages: ros2 pkg list"
159
+ echo " - Create a workspace: mkdir -p ~/ros2_ws/src && cd ~/ros2_ws && colcon build"
160
+ echo ""
161
+ echo "📖 Documentation: https://docs.ros.org/en/humble/"
162
+ echo ""
163
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/restore_ubuntu_sources.sh ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/bin/bash
2
+
3
+ # Script to restore official Ubuntu repositories
4
+ # Removes Tsinghua University mirrors and restores official sources
5
+
6
+ echo "Creating backup of current sources.list..."
7
+ sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup.$(date +%Y%m%d_%H%M%S)
8
+
9
+ echo "Restoring official Ubuntu repositories for Ubuntu 22.04 (Jammy) ARM64..."
10
+
11
+ # Create new sources.list with official repositories
12
+ sudo tee /etc/apt/sources.list > /dev/null << 'SOURCES'
13
+ # Official Ubuntu repositories for ARM64 (ports.ubuntu.com)
14
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy main restricted
15
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-updates main restricted
16
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy universe
17
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-updates universe
18
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy multiverse
19
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-updates multiverse
20
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-backports main restricted universe multiverse
21
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted
22
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security universe
23
+ deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security multiverse
24
+
25
+ # Source repositories (uncomment if you need source packages)
26
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy main restricted
27
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-updates main restricted
28
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy universe
29
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-updates universe
30
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy multiverse
31
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-updates multiverse
32
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-backports main restricted universe multiverse
33
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted
34
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security universe
35
+ # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security multiverse
36
+ SOURCES
37
+
38
+ echo "Updated sources.list with official Ubuntu repositories"
39
+ echo "Updating package lists..."
40
+ sudo apt update
41
+
42
+ echo "Done! Ubuntu repositories restored to official sources."
43
+ echo "Backup saved as: /etc/apt/sources.list.backup.$(date +%Y%m%d_%H%M%S)"
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/setup_env.sh ADDED
@@ -0,0 +1,351 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/bin/bash
2
+
3
+ # Environment setup script to replace shell.nix functionality
4
+ # Source this file: source scripts/setup_env.sh
5
+
6
+ echo "🔧 Setting up G1 Deploy environment..."
7
+
8
+ # Run jetson_clocks on Jetson systems (bare-metal only)
9
+ if command -v jetson_clocks &> /dev/null; then
10
+ if [ -f "/.dockerenv" ]; then
11
+ # Inside Docker - skip (jetson_clocks needs host access)
12
+ echo "ℹ️ Inside Docker - jetson_clocks should be run on host"
13
+ else
14
+ # Bare-metal Jetson - set max performance
15
+ echo "🚀 Setting Jetson to max performance..."
16
+ sudo jetson_clocks 2>/dev/null || echo "⚠️ jetson_clocks failed (needs sudo)"
17
+ fi
18
+ fi
19
+
20
+ # Detect system architecture for platform-specific setup
21
+ ARCH=$(uname -m)
22
+
23
+ # Set up ONNX Runtime environment - check multiple possible locations
24
+ ONNX_RUNTIME_PATHS=(
25
+ "/opt/onnxruntime"
26
+ "/usr/local/onnxruntime"
27
+ "/usr/lib/onnxruntime"
28
+ "$HOME/.local/onnxruntime"
29
+ "/opt/intel/openvino/runtime/3rdparty/onnx_runtime"
30
+ )
31
+
32
+ ONNX_FOUND=false
33
+ for path in "${ONNX_RUNTIME_PATHS[@]}"; do
34
+ if [ -d "$path" ]; then
35
+ export onnxruntime_DIR="$path/lib/cmake/onnxruntime"
36
+ echo "✅ ONNX Runtime found at: $path"
37
+ ONNX_FOUND=true
38
+ break
39
+ fi
40
+ done
41
+
42
+ if [ "$ONNX_FOUND" = false ]; then
43
+ # Try to use system package manager installation
44
+ if pkg-config --exists libonnxruntime 2>/dev/null; then
45
+ echo "✅ ONNX Runtime found via system package manager"
46
+ else
47
+ echo "⚠️ ONNX Runtime not found in common locations:"
48
+ printf " %s\n" "${ONNX_RUNTIME_PATHS[@]}"
49
+ echo " Please run scripts/install_deps.sh or install ONNX Runtime manually"
50
+ fi
51
+ fi
52
+
53
+ # Auto-detect system architecture and library paths for different distributions
54
+ DISTRO_ID=""
55
+
56
+ # Detect Linux distribution
57
+ if [ -f /etc/os-release ]; then
58
+ DISTRO_ID=$(grep "^ID=" /etc/os-release | cut -d'=' -f2 | tr -d '"')
59
+ elif [ -f /etc/redhat-release ]; then
60
+ DISTRO_ID="rhel"
61
+ elif [ -f /etc/debian_version ]; then
62
+ DISTRO_ID="debian"
63
+ fi
64
+
65
+ # Set system library directory based on distribution and architecture
66
+ case "$DISTRO_ID" in
67
+ ubuntu|debian|linuxmint)
68
+ # Debian-based distributions use multiarch paths
69
+ if [ "$ARCH" = "x86_64" ]; then
70
+ SYSTEM_LIB_DIR="/usr/lib/x86_64-linux-gnu"
71
+ elif [ "$ARCH" = "aarch64" ]; then
72
+ SYSTEM_LIB_DIR="/usr/lib/aarch64-linux-gnu"
73
+ else
74
+ SYSTEM_LIB_DIR="/usr/lib"
75
+ fi
76
+ ;;
77
+ fedora|rhel|centos|rocky|almalinux)
78
+ # Red Hat-based distributions typically use lib64 for 64-bit
79
+ if [[ "$ARCH" == "x86_64" || "$ARCH" == "aarch64" ]]; then
80
+ SYSTEM_LIB_DIR="/usr/lib64"
81
+ else
82
+ SYSTEM_LIB_DIR="/usr/lib"
83
+ fi
84
+ ;;
85
+ opensuse*|sles)
86
+ # SUSE distributions also use lib64
87
+ if [[ "$ARCH" == "x86_64" || "$ARCH" == "aarch64" ]]; then
88
+ SYSTEM_LIB_DIR="/usr/lib64"
89
+ else
90
+ SYSTEM_LIB_DIR="/usr/lib"
91
+ fi
92
+ ;;
93
+ arch|manjaro)
94
+ # Arch Linux uses standard lib structure
95
+ SYSTEM_LIB_DIR="/usr/lib"
96
+ ;;
97
+ *)
98
+ # Generic fallback - try to detect best path
99
+ if [ -d "/usr/lib/$ARCH-linux-gnu" ]; then
100
+ SYSTEM_LIB_DIR="/usr/lib/$ARCH-linux-gnu"
101
+ elif [ -d "/usr/lib64" ] && [[ "$ARCH" == "x86_64" || "$ARCH" == "aarch64" ]]; then
102
+ SYSTEM_LIB_DIR="/usr/lib64"
103
+ else
104
+ SYSTEM_LIB_DIR="/usr/lib"
105
+ fi
106
+ ;;
107
+ esac
108
+
109
+ echo "🔍 Detected: $DISTRO_ID on $ARCH, using library path: $SYSTEM_LIB_DIR"
110
+
111
+ # Set up CMake paths - use dynamically detected paths
112
+ CMAKE_PATHS="$SYSTEM_LIB_DIR/cmake"
113
+
114
+ # Add ONNX Runtime path if we found one
115
+ if [ -n "$onnxruntime_DIR" ]; then
116
+ ONNX_BASE_PATH=$(dirname $(dirname $onnxruntime_DIR)) # Remove /lib/cmake/onnxruntime to get base path
117
+ CMAKE_PATHS="$ONNX_BASE_PATH:$CMAKE_PATHS"
118
+ fi
119
+
120
+ export CMAKE_PREFIX_PATH="$CMAKE_PATHS:$CMAKE_PREFIX_PATH"
121
+ export OPENSSL_ROOT_DIR="/usr"
122
+
123
+ # ROS2 Environment Setup - dynamically find ROS2 installation
124
+ ROS2_FOUND=false
125
+
126
+ # Common ROS2 distributions in order of preference (newest first)
127
+ ROS2_DISTROS=("jazzy" "iron" "humble" "galactic" "foxy" "eloquent" "dashing" "crystal")
128
+ ROS2_INSTALL_PATHS=("/opt/ros" "/usr/local/ros" "$HOME/ros2_ws/install")
129
+
130
+ for install_path in "${ROS2_INSTALL_PATHS[@]}"; do
131
+ if [ "$ROS2_FOUND" = true ]; then
132
+ break
133
+ fi
134
+
135
+ for distro in "${ROS2_DISTROS[@]}"; do
136
+ ros2_setup_file="$install_path/$distro/setup.bash"
137
+ if [ -f "$ros2_setup_file" ]; then
138
+ source "$ros2_setup_file"
139
+ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
140
+ # Remove problematic system library path that conflicts with system GLIBC
141
+ export LD_LIBRARY_PATH=$(echo $LD_LIBRARY_PATH | tr ':' '\n' | grep -v "$SYSTEM_LIB_DIR" | tr '\n' ':' | sed 's/:$//')
142
+ echo "✅ ROS2 $distro found at $install_path/$distro - system manages all ROS2 dependencies"
143
+ export HAS_ROS2=1
144
+ export ROS_LOCALHOST_ONLY=1
145
+ ROS2_FOUND=true
146
+ break
147
+ fi
148
+ done
149
+ done
150
+
151
+ if [ "$ROS2_FOUND" = false ]; then
152
+ echo "⚠️ ROS2 not found in common locations:"
153
+ printf " %s/<distro>\n" "${ROS2_INSTALL_PATHS[@]}"
154
+ echo " Install ROS2 system-wide for ROS2InputHandler support"
155
+ echo " Building will continue without ROS2InputHandler"
156
+ export HAS_ROS2=0
157
+ fi
158
+
159
+ # Set up production FastRTPS profile
160
+ if [ -f "src/g1/g1_deploy_onnx_ref/config/fastrtps_profile.xml" ]; then
161
+ export FASTRTPS_DEFAULT_PROFILES_FILE="$(pwd)/src/g1/g1_deploy_onnx_ref/config/fastrtps_profile.xml"
162
+ echo "✅ FastRTPS production profile configured"
163
+ fi
164
+
165
+ # TensorRT Environment Setup
166
+ # Check if TensorRT_ROOT is already set, if not try to load from .bashrc
167
+ if [ -z "$TensorRT_ROOT" ] && [ -f "$HOME/.bashrc" ]; then
168
+ # Extract TensorRT_ROOT from .bashrc if it exists
169
+ BASHRC_TENSORRT=$(grep -o 'export TensorRT_ROOT=.*' "$HOME/.bashrc" | head -n1 | cut -d'=' -f2 | tr -d '"' | envsubst)
170
+ if [ -n "$BASHRC_TENSORRT" ]; then
171
+ export TensorRT_ROOT="$BASHRC_TENSORRT"
172
+ echo "📋 Loaded TensorRT_ROOT from ~/.bashrc: $TensorRT_ROOT"
173
+ fi
174
+ fi
175
+
176
+ if [ -n "$TensorRT_ROOT" ]; then
177
+ export LD_LIBRARY_PATH="$TensorRT_ROOT/lib:$LD_LIBRARY_PATH"
178
+ echo "✅ TensorRT environment configured"
179
+
180
+ # For Jetson systems, ensure DLA libraries are accessible for runtime
181
+ if [[ "$ARCH" == "aarch64" ]] && [[ -f "/etc/nv_tegra_release" || -d "/usr/src/jetson_multimedia_api" ]]; then
182
+ echo "🤖 Jetson system detected - setting up DLA library paths for runtime"
183
+
184
+ # Create missing libcudla.so.1 symlink if needed (TensorRT expects this name)
185
+ if [ -f "/usr/lib/aarch64-linux-gnu/nvidia/libnvcudla.so" ] && [ ! -f "/usr/lib/aarch64-linux-gnu/nvidia/libcudla.so.1" ]; then
186
+ echo " 🔗 Creating libcudla.so.1 symlink for TensorRT compatibility..."
187
+ sudo ln -sf libnvcudla.so /usr/lib/aarch64-linux-gnu/nvidia/libcudla.so.1 2>/dev/null || echo " ⚠️ Could not create symlink (may need sudo)"
188
+ sudo ln -sf libnvcudla.so /usr/lib/aarch64-linux-gnu/nvidia/libcudla.so 2>/dev/null || echo " ⚠️ Could not create symlink (may need sudo)"
189
+ echo " ✅ libcudla.so.1 → libnvcudla.so"
190
+ fi
191
+
192
+ # CRITICAL: Add DLA library path for runtime (this is why your executable can't run)
193
+ export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/nvidia:$LD_LIBRARY_PATH"
194
+ # Also add to LIBRARY_PATH so the build-time linker finds -lcudla here.
195
+ # GCC/ld doesn't search ldconfig paths for -l resolution by default; LIBRARY_PATH
196
+ # is the build-time analogue of LD_LIBRARY_PATH and feeds directly into -L search.
197
+ export LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/nvidia:${LIBRARY_PATH:-}"
198
+ echo " 📁 Added DLA library path to current session (runtime + build-time)"
199
+
200
+ # Make it persistent so you don't need to run setup_env.sh every time
201
+ if ! grep -q "/usr/lib/aarch64-linux-gnu/nvidia" ~/.bashrc 2>/dev/null; then
202
+ echo 'export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/nvidia:$LD_LIBRARY_PATH"' >> ~/.bashrc
203
+ echo " ✅ Added DLA library path to ~/.bashrc for future sessions"
204
+ fi
205
+
206
+ echo " ℹ️ Your executable should now be able to find DLA libraries at runtime"
207
+ fi
208
+ else
209
+ echo "⚠️ TensorRT_ROOT is not set"
210
+ echo " Please install TensorRT and add 'export TensorRT_ROOT=/path/to/tensorrt' to your ~/.bashrc"
211
+ echo " Or source ~/.bashrc before running this script"
212
+ fi
213
+
214
+ # CUDA Environment Setup
215
+ echo "🔧 Setting up CUDA environment..."
216
+
217
+ # Function to detect and set CUDA toolkit root
218
+ setup_cuda_toolkit() {
219
+ # Check if CUDAToolkit_ROOT is already set
220
+ if [ -n "$CUDAToolkit_ROOT" ] && [ -f "$CUDAToolkit_ROOT/bin/nvcc" ]; then
221
+ echo "✅ CUDA toolkit found: CUDAToolkit_ROOT already set to $CUDAToolkit_ROOT"
222
+ return 0
223
+ fi
224
+
225
+ # Check for nvcc in PATH first
226
+ if command -v nvcc &> /dev/null; then
227
+ NVCC_PATH=$(command -v nvcc)
228
+ CUDA_ROOT=$(dirname $(dirname "$NVCC_PATH"))
229
+ export CUDAToolkit_ROOT="$CUDA_ROOT"
230
+ echo "✅ CUDA toolkit found in PATH: $CUDAToolkit_ROOT"
231
+ return 0
232
+ fi
233
+
234
+ # Check common CUDA installation paths (including CUDA 12.6 for newer Jetson)
235
+ CUDA_PATHS=(
236
+ "/usr/local/cuda"
237
+ "/usr/local/cuda-12.6" # CUDA 12.6 on newer Jetson
238
+ "/usr/local/cuda-12.5" # CUDA 12.5 variant
239
+ "/usr/local/cuda-12.4" # CUDA 12.4 variant
240
+ "/usr/local/cuda-12"
241
+ "/usr/local/cuda-11.4" # Common on older Jetson
242
+ "/usr/local/cuda-11"
243
+ "/usr/local/cuda-10.2" # Common on older Jetson
244
+ "/usr/local/cuda-10"
245
+ "/opt/cuda"
246
+ "/usr/cuda"
247
+ )
248
+
249
+ for cuda_path in "${CUDA_PATHS[@]}"; do
250
+ if [ -f "$cuda_path/bin/nvcc" ]; then
251
+ export CUDAToolkit_ROOT="$cuda_path"
252
+ export CUDA_HOME="$cuda_path" # Alternative name CMake might use
253
+ export PATH="$cuda_path/bin:$PATH"
254
+ export LD_LIBRARY_PATH="$cuda_path/lib64:$cuda_path/lib:$LD_LIBRARY_PATH"
255
+ echo "✅ CUDA toolkit found at: $CUDAToolkit_ROOT"
256
+ echo " Added to PATH: $cuda_path/bin"
257
+ echo " Added CUDA libraries to LD_LIBRARY_PATH"
258
+ return 0
259
+ fi
260
+ done
261
+
262
+ return 1
263
+ }
264
+
265
+ # Set up CUDA toolkit
266
+ if setup_cuda_toolkit; then
267
+ # Add CUDA library paths
268
+ if [ -n "$CUDAToolkit_ROOT" ]; then
269
+ export LD_LIBRARY_PATH="$CUDAToolkit_ROOT/lib64:$CUDAToolkit_ROOT/lib:$LD_LIBRARY_PATH"
270
+
271
+ # For Jetson with CUDA 12.6+, also add the targets/aarch64-linux/lib path for libcudla
272
+ if [[ "$ARCH" == "aarch64" ]] && [ -d "$CUDAToolkit_ROOT/targets/aarch64-linux/lib" ]; then
273
+ export LD_LIBRARY_PATH="$CUDAToolkit_ROOT/targets/aarch64-linux/lib:$LD_LIBRARY_PATH"
274
+ echo " ✅ Added CUDA aarch64-linux libraries (includes libcudla for TensorRT DLA support)"
275
+ fi
276
+ fi
277
+ else
278
+ echo "ℹ️ CUDA toolkit (nvcc) not found. This is OK - checking for runtime libraries..."
279
+ echo " Note: Full toolkit is preferred for development but runtime-only is sufficient for execution"
280
+ fi
281
+
282
+ # Set up CUDA runtime libraries (fallback)
283
+ # Note: Only add nvidia path if we don't already have CUDA toolkit paths set up
284
+ # This prevents conflicts where libnvcudla.so shadows the correct libcudla.so from CUDA toolkit
285
+ if [ -z "$CUDAToolkit_ROOT" ] && [ -d "/usr/lib/aarch64-linux-gnu/nvidia/" ]; then
286
+ export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/nvidia/:$LD_LIBRARY_PATH"
287
+ echo "✅ CUDA runtime libraries found (aarch64)"
288
+ elif [ -n "$CUDAToolkit_ROOT" ]; then
289
+ echo "✅ Using CUDA libraries from toolkit (prioritized over system runtime libs)"
290
+ else
291
+ cuda_so_path=$(find /usr -name libcuda.so.1 2>/dev/null | head -n1)
292
+ if [ -n "$cuda_so_path" ]; then
293
+ export LD_PRELOAD="$cuda_so_path"
294
+ echo "✅ CUDA runtime library found at $cuda_so_path"
295
+ else
296
+ echo "========================================================================"
297
+ echo "⚠️ Warning: CUDA libraries not found. GPU functionality may be unavailable."
298
+ echo " Please install NVIDIA drivers and CUDA toolkit for GPU support."
299
+ echo "========================================================================"
300
+ fi
301
+ fi
302
+
303
+ # Add ONNX Runtime to library path if not already there
304
+ if [ -d "/opt/onnxruntime/lib" ]; then
305
+ export LD_LIBRARY_PATH="/opt/onnxruntime/lib:$LD_LIBRARY_PATH"
306
+ fi
307
+
308
+ # Set up Git LFS (if not already done)
309
+ if command -v git-lfs &> /dev/null; then
310
+ git lfs install &> /dev/null
311
+ echo "✅ Git LFS configured"
312
+
313
+ # Pull large files if in git repository
314
+ if [ -d ".git" ]; then
315
+ echo "📥 Pulling Git LFS files..."
316
+ git lfs pull
317
+ fi
318
+ else
319
+ echo "⚠️ Git LFS not found. Please install git-lfs package."
320
+ fi
321
+
322
+ # Verify essential tools
323
+ echo ""
324
+ echo "🔍 Verifying essential tools:"
325
+
326
+ check_command() {
327
+ if command -v "$1" &> /dev/null; then
328
+ echo "✅ $1: $(command -v $1)"
329
+ else
330
+ echo "❌ $1: not found"
331
+ fi
332
+ }
333
+
334
+ check_command cmake
335
+ check_command clang
336
+ check_command just
337
+ check_command git
338
+
339
+ echo ""
340
+ echo "🎉 Environment setup complete!"
341
+ echo ""
342
+ echo "📝 You can now run:"
343
+ echo " just build # Build the project"
344
+ echo " just --list # See all available commands"
345
+ echo ""
346
+
347
+ # Optional: Add this setup to the current shell session persistence
348
+ if [ -n "$BASH_VERSION" ]; then
349
+ export PS1="(g1_deploy) $PS1"
350
+ fi
351
+
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/scripts/setup_wifi.sh ADDED
@@ -0,0 +1,265 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #!/bin/bash
2
+
3
+ echo "=== [WiFi Setup Script] Starting... ==="
4
+
5
+ # WiFi network configuration (set via env or flags)
6
+ # Usage:
7
+ # WIFI_SSID="MyWifi" WIFI_PASSWORD="secret" WIFI_GATEWAY="192.168.x.x" ./setup_wifi.sh
8
+ # ./setup_wifi.sh --ssid "MyWifi" --password "secret" --interface "wlan0" --gateway "192.168.x.x"
9
+ WIFI_SSID="${WIFI_SSID:-}"
10
+ WIFI_PASSWORD="${WIFI_PASSWORD:-}"
11
+ CONNECTION_NAME="${CONNECTION_NAME:-}"
12
+ WIFI_INTERFACE="${WIFI_INTERFACE:-}"
13
+ FALLBACK_SSID="${FALLBACK_SSID:-}"
14
+
15
+ usage() {
16
+ cat << 'USAGE_EOF'
17
+ Usage: setup_wifi.sh [options]
18
+
19
+ Options:
20
+ --ssid <ssid> WiFi SSID (required)
21
+ --password <password> WiFi password (required for secured networks)
22
+ --interface <ifname> WiFi interface (optional; auto-detect if omitted)
23
+ --connection <name> Connection profile name (optional; defaults to SSID)
24
+ --gateway <ip> Gateway IP (optional; sets route/DNS)
25
+ --fallback-ssid <ssid> Fallback SSID (optional)
26
+ -h, --help Show this help
27
+
28
+ You can also set environment variables:
29
+ WIFI_SSID, WIFI_PASSWORD, WIFI_INTERFACE, CONNECTION_NAME, FALLBACK_SSID, WIFI_GATEWAY,
30
+ ROUTE_CLEANUP_GW
31
+ USAGE_EOF
32
+ }
33
+
34
+ while [ $# -gt 0 ]; do
35
+ case "$1" in
36
+ --ssid) WIFI_SSID="$2"; shift 2 ;;
37
+ --password) WIFI_PASSWORD="$2"; shift 2 ;;
38
+ --interface) WIFI_INTERFACE="$2"; shift 2 ;;
39
+ --connection) CONNECTION_NAME="$2"; shift 2 ;;
40
+ --fallback-ssid) FALLBACK_SSID="$2"; shift 2 ;;
41
+ --gateway) WIFI_GATEWAY="$2"; shift 2 ;;
42
+ -h|--help) usage; exit 0 ;;
43
+ *)
44
+ echo "[!] Unknown option: $1"
45
+ usage
46
+ exit 2
47
+ ;;
48
+ esac
49
+ done
50
+
51
+ if [ -z "$WIFI_SSID" ]; then
52
+ echo "[✗] Missing WiFi SSID. Provide --ssid or WIFI_SSID."
53
+ usage
54
+ exit 2
55
+ fi
56
+
57
+ if [ -z "$CONNECTION_NAME" ]; then
58
+ CONNECTION_NAME="$WIFI_SSID"
59
+ fi
60
+
61
+ if [ -z "$WIFI_INTERFACE" ]; then
62
+ WIFI_INTERFACE=$(nmcli -t -f DEVICE,TYPE device status | awk -F: '$2=="wifi"{print $1; exit}')
63
+ fi
64
+
65
+ if [ -z "$WIFI_INTERFACE" ]; then
66
+ echo "[✗] No WiFi interface detected. Provide --interface or WIFI_INTERFACE."
67
+ exit 2
68
+ fi
69
+
70
+ # Network configuration
71
+ # If WIFI_GATEWAY is set, routing and DNS will be configured to use it.
72
+ WIFI_GATEWAY="${WIFI_GATEWAY:-}"
73
+ # Optional default gateway to remove from routing table.
74
+ ROUTE_CLEANUP_GW="${ROUTE_CLEANUP_GW:-}"
75
+ WIRED_CONNECTION="Wired connection 1"
76
+
77
+ # Step 1: Unblock and enable WiFi
78
+ echo "[1] Unblocking WiFi and enabling interface..."
79
+ sudo rfkill unblock wifi
80
+ sudo ip link set $WIFI_INTERFACE up
81
+
82
+ # Step 2: Scan for networks to verify NetworkManager is working
83
+ echo "[2] Scanning for WiFi networks..."
84
+ sudo nmcli device wifi rescan
85
+ sleep 3
86
+
87
+ # Step 3: Check if the target network is visible
88
+ echo "[3] Checking for '$WIFI_SSID' network..."
89
+ if sudo nmcli device wifi list | grep -q "$WIFI_SSID"; then
90
+ echo "[✓] Network '$WIFI_SSID' found in scan"
91
+ # Try direct connection
92
+ echo "[4] Attempting direct connection to '$WIFI_SSID'..."
93
+ if [ -n "$WIFI_PASSWORD" ]; then
94
+ CONNECT_CMD=(sudo nmcli device wifi connect "$WIFI_SSID" password "$WIFI_PASSWORD")
95
+ else
96
+ CONNECT_CMD=(sudo nmcli device wifi connect "$WIFI_SSID")
97
+ fi
98
+ if "${CONNECT_CMD[@]}"; then
99
+ echo "[✓] Successfully connected directly"
100
+ CONNECTION_SUCCESS=true
101
+ else
102
+ echo "[!] Direct connection failed, trying manual profile method..."
103
+ CONNECTION_SUCCESS=false
104
+ fi
105
+ else
106
+ echo "[!] Network '$WIFI_SSID' not found in scan (possibly hidden)"
107
+ CONNECTION_SUCCESS=false
108
+ fi
109
+
110
+ # Step 4: If direct connection failed or network not found, create manual connection profile
111
+ if [ "$CONNECTION_SUCCESS" != "true" ]; then
112
+ echo "[4] Creating manual connection profile for '$WIFI_SSID'..."
113
+
114
+ # Remove existing connection profile if it exists
115
+ sudo nmcli connection delete "$CONNECTION_NAME" 2>/dev/null || true
116
+
117
+ # Create new connection profile
118
+ if [ -n "$WIFI_PASSWORD" ]; then
119
+ ADD_ARGS=(wifi-sec.key-mgmt wpa-psk wifi-sec.psk "$WIFI_PASSWORD")
120
+ else
121
+ ADD_ARGS=()
122
+ fi
123
+ if sudo nmcli connection add type wifi con-name "$CONNECTION_NAME" ifname "$WIFI_INTERFACE" ssid "$WIFI_SSID" "${ADD_ARGS[@]}"; then
124
+ echo "[✓] Connection profile created successfully"
125
+
126
+ echo "[5] Activating connection profile..."
127
+ if sudo nmcli connection up "$CONNECTION_NAME"; then
128
+ echo "[✓] Connection profile activated successfully"
129
+ CONNECTION_SUCCESS=true
130
+ else
131
+ echo "[✗] Failed to activate connection profile"
132
+ CONNECTION_SUCCESS=false
133
+ fi
134
+ else
135
+ echo "[✗] Failed to create connection profile"
136
+ CONNECTION_SUCCESS=false
137
+ fi
138
+ fi
139
+
140
+ # Step 5: Configure network routing priorities if connection successful
141
+ if [ "$CONNECTION_SUCCESS" = "true" ]; then
142
+ echo "[5] Configuring network routing priorities..."
143
+
144
+ # Set WiFi connection to high priority (low metric)
145
+ echo " Setting WiFi connection priority to 100..."
146
+ sudo nmcli connection modify "$CONNECTION_NAME" ipv4.route-metric 100
147
+
148
+ # Set wired connection to very low priority (high metric)
149
+ echo " Setting wired connection priority to 30000..."
150
+ sudo nmcli connection modify "$WIRED_CONNECTION" ipv4.route-metric 30000 2>/dev/null || true
151
+
152
+ # Remove any problematic default routes
153
+ echo " Cleaning up routing table..."
154
+ if [ -n "$ROUTE_CLEANUP_GW" ]; then
155
+ sudo ip route del default via "$ROUTE_CLEANUP_GW" 2>/dev/null || true
156
+ fi
157
+
158
+ # Ensure WiFi route has highest priority
159
+ if [ -n "$WIFI_GATEWAY" ]; then
160
+ sudo ip route add default via "$WIFI_GATEWAY" dev "$WIFI_INTERFACE" metric 50 2>/dev/null || true
161
+
162
+ # Configure DNS to use router and public DNS
163
+ echo " Configuring DNS..."
164
+ sudo tee /etc/resolv.conf > /dev/null << DNS_EOF
165
+ nameserver $WIFI_GATEWAY
166
+ nameserver 8.8.8.8
167
+ nameserver 1.1.1.1
168
+ DNS_EOF
169
+ fi
170
+
171
+ echo "[✓] Network routing configured for WiFi priority"
172
+ fi
173
+
174
+ # Step 6: Verify connection status
175
+ echo "[6] Checking connection status..."
176
+ if [ "$CONNECTION_SUCCESS" = "true" ]; then
177
+ CURRENT_CONNECTION=$(nmcli device status | grep "$WIFI_INTERFACE" | awk '{print $4}')
178
+ if [[ "$CURRENT_CONNECTION" == "$CONNECTION_NAME" ]] || [[ "$CURRENT_CONNECTION" == "$WIFI_SSID" ]]; then
179
+ echo "[✓] Successfully connected to '$WIFI_SSID'"
180
+ echo " Interface: $WIFI_INTERFACE"
181
+ echo " Connection: $CURRENT_CONNECTION"
182
+ else
183
+ echo "[!] Connection status unclear"
184
+ CONNECTION_SUCCESS=false
185
+ fi
186
+ fi
187
+
188
+ # Step 7: Test internet connectivity
189
+ if [ "$CONNECTION_SUCCESS" = "true" ]; then
190
+ echo "[7] Testing internet connectivity..."
191
+ MAX_RETRIES=3
192
+ COUNT=0
193
+ INTERNET_OK=false
194
+
195
+ while [ "$COUNT" -lt "$MAX_RETRIES" ]; do
196
+ if ping -c 2 -W 5 8.8.8.8 >/dev/null 2>&1; then
197
+ echo "[✓] Internet connectivity verified (ping test)"
198
+
199
+ # Also test DNS resolution
200
+ if curl -s --connect-timeout 5 -I http://google.com >/dev/null 2>&1; then
201
+ echo "[✓] DNS resolution and HTTP connectivity verified"
202
+ INTERNET_OK=true
203
+ break
204
+ else
205
+ echo "[!] DNS/HTTP test failed, but ping works. Retrying... ($((COUNT+1))/$MAX_RETRIES)"
206
+ fi
207
+ else
208
+ echo "[!] Internet test failed. Retrying... ($((COUNT+1))/$MAX_RETRIES)"
209
+ fi
210
+
211
+ sleep 3
212
+ ((COUNT++))
213
+ done
214
+
215
+ if [ "$INTERNET_OK" != "true" ]; then
216
+ echo "[!] Internet connectivity test failed after $MAX_RETRIES attempts"
217
+ CONNECTION_SUCCESS=false
218
+ fi
219
+ fi
220
+
221
+ # Step 8: Fallback to previous network if connection failed
222
+ if [ "$CONNECTION_SUCCESS" != "true" ] && [ -n "$FALLBACK_SSID" ]; then
223
+ echo "[8] Connection to '$WIFI_SSID' failed. Attempting fallback to '$FALLBACK_SSID'..."
224
+
225
+ # Try to connect to fallback network
226
+ if sudo nmcli device wifi list | grep -q "$FALLBACK_SSID"; then
227
+ echo "[!] Attempting to connect to fallback network '$FALLBACK_SSID'..."
228
+ if sudo nmcli device wifi connect "$FALLBACK_SSID"; then
229
+ echo "[✓] Connected to fallback network '$FALLBACK_SSID'"
230
+
231
+ # Apply routing fixes for fallback network too
232
+ echo " Applying routing fixes for fallback network..."
233
+ if [ -n "$ROUTE_CLEANUP_GW" ]; then
234
+ sudo ip route del default via "$ROUTE_CLEANUP_GW" 2>/dev/null || true
235
+ fi
236
+ sudo nmcli connection modify "$WIRED_CONNECTION" ipv4.route-metric 30000 2>/dev/null || true
237
+ else
238
+ echo "[✗] Failed to connect to fallback network"
239
+ fi
240
+ else
241
+ echo "[!] Fallback network '$FALLBACK_SSID' not available"
242
+ fi
243
+ fi
244
+
245
+ # Step 9: Final status report
246
+ echo "[9] Final WiFi status:"
247
+ nmcli device status | grep wifi
248
+ echo ""
249
+ echo "Active connections:"
250
+ nmcli connection show --active | head -5
251
+ echo ""
252
+ echo "Current routing table:"
253
+ ip route show | head -5
254
+ echo ""
255
+ echo "DNS configuration:"
256
+ cat /etc/resolv.conf | grep nameserver
257
+
258
+ echo "=== [WiFi Setup Script] Completed ==="
259
+
260
+ # Exit with appropriate code
261
+ if [ "$CONNECTION_SUCCESS" = "true" ]; then
262
+ exit 0
263
+ else
264
+ exit 1
265
+ fi
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/CMakeLists.txt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ add_subdirectory(TRTInference)
2
+ add_subdirectory(g1)
3
+ add_subdirectory(audio_thread)
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/CMakeLists.txt ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ message(STATUS "blah = ${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
2
+
3
+ set(SRC_FILES
4
+ "InferenceEngine.cpp"
5
+ "InferenceEngine.h"
6
+ "InferenceEngine.inl"
7
+ "Utility.h"
8
+ )
9
+
10
+ source_group(TREE ${CMAKE_CURRENT_SOURCE_DIR} FILES ${SRC_FILES})
11
+
12
+ add_library(TRTInference ${SRC_FILES})
13
+
14
+ # Explicitly set C++ standard for this library
15
+ set_target_properties(TRTInference PROPERTIES
16
+ CXX_STANDARD 20
17
+ CXX_STANDARD_REQUIRED ON
18
+ CXX_EXTENSIONS OFF
19
+ )
20
+
21
+ # Set up include directories
22
+ set(CUDA_INCLUDES "")
23
+ if(CUDAToolkit_FOUND)
24
+ set(CUDA_INCLUDES ${CUDAToolkit_INCLUDE_DIRS})
25
+ elseif(CUDA_INCLUDE_DIR)
26
+ set(CUDA_INCLUDES ${CUDA_INCLUDE_DIR})
27
+ endif()
28
+
29
+ target_include_directories(TRTInference
30
+ PRIVATE ${PROJECT_SOURCE_DIR}/src
31
+ PRIVATE ${TensorRT_INCLUDE_DIRS}
32
+ PRIVATE ${CUDA_INCLUDES})
33
+
34
+ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang|GNU")
35
+ target_compile_options(TRTInference PRIVATE -Wno-deprecated-declarations -std=c++20)
36
+ endif()
37
+
38
+ target_link_libraries(TRTInference ${TensorRT_LIBRARIES} ${CUDA_LIBRARIES})
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/InferenceEngine.cpp ADDED
@@ -0,0 +1,794 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #include "InferenceEngine.h"
2
+ #include "Log.h"
3
+ #include "picosha2.h"
4
+
5
+ #include <fstream>
6
+ #include <array>
7
+ #include <bitset>
8
+ #include <vector>
9
+ #include <map>
10
+ #include <iostream>
11
+
12
+ #include <NvInfer.h>
13
+ #include <NvOnnxParser.h>
14
+
15
+ namespace
16
+ {
17
+ class Logger : public nvinfer1::ILogger
18
+ {
19
+ public:
20
+ Logger( bool verbose )
21
+ : m_flags( UINT8_MAX )
22
+ {
23
+ m_flags.set( static_cast<size_t>( Severity::kVERBOSE ), verbose );
24
+ }
25
+
26
+ void log( Severity severity, const char* msg ) noexcept override
27
+ {
28
+ if ( !m_flags.test( static_cast<size_t>( severity ) ) )
29
+ return;
30
+
31
+ switch ( severity )
32
+ {
33
+ case Severity::kINFO:
34
+ case Severity::kVERBOSE:
35
+ LOG_INFO( msg );
36
+ break;
37
+ case Severity::kWARNING:
38
+ LOG_WARNING( msg );
39
+ break;
40
+ case Severity::kERROR:
41
+ case Severity::kINTERNAL_ERROR:
42
+ LOG_ERROR( msg );
43
+ break;
44
+ }
45
+ }
46
+
47
+ void log( cudaError_t error )
48
+ {
49
+ if ( error == cudaError_t::cudaSuccess )
50
+ return;
51
+
52
+ LOG_ERROR( "CUDA failed with error [ " + std::to_string( error ) + " : " + cudaGetErrorName( error ) + " ]: " + cudaGetErrorString( error ) );
53
+ }
54
+
55
+ private:
56
+ static constexpr uint8_t NB_FLAGS = static_cast<uint8_t>( Severity::kVERBOSE ) + 1;
57
+ std::bitset<NB_FLAGS> m_flags;
58
+ };
59
+
60
+ Logger s_logger(false);
61
+
62
+ bool FileExists( const std::string& filepath )
63
+ {
64
+ return std::ifstream( filepath.c_str() ).good();
65
+ }
66
+
67
+ std::string GetCudaDeviceName( int deviceID )
68
+ {
69
+ int deviceCount = 0;
70
+ cudaGetDeviceCount( &deviceCount );
71
+
72
+ if ( deviceID >= deviceCount )
73
+ return std::string();
74
+
75
+ cudaDeviceProp prop;
76
+ cudaGetDeviceProperties( &prop, deviceID );
77
+ return std::string( prop.name );
78
+ }
79
+
80
+ int SizeOfTensorDataType( nvinfer1::DataType dataType )
81
+ {
82
+ int size = -1;
83
+ switch ( dataType )
84
+ {
85
+ case nvinfer1::DataType::kINT64:
86
+ size = sizeof( uint64_t );
87
+ break;
88
+
89
+ case nvinfer1::DataType::kINT32:
90
+ case nvinfer1::DataType::kFLOAT:
91
+ size = sizeof( uint32_t );
92
+ break;
93
+
94
+ case nvinfer1::DataType::kHALF:
95
+ case nvinfer1::DataType::kBF16:
96
+ size = sizeof( uint16_t );
97
+ break;
98
+
99
+ case nvinfer1::DataType::kFP8:
100
+ case nvinfer1::DataType::kINT8:
101
+ case nvinfer1::DataType::kBOOL:
102
+ case nvinfer1::DataType::kUINT8:
103
+ size = sizeof( uint8_t );
104
+ break;
105
+
106
+ default:
107
+ break;
108
+ }
109
+
110
+ return size;
111
+ }
112
+ }
113
+
114
+ bool ConvertONNXToTRT(
115
+ const Options& options,
116
+ const std::string& onnxModelPath,
117
+ std::string& trtFile,
118
+ const std::string prefix,
119
+ bool forceConvert
120
+ )
121
+ {
122
+ if ( !FileExists( onnxModelPath ) )
123
+ {
124
+ LOG_ERROR( "Cannot find ONNX mode at path: " + onnxModelPath );
125
+ return false;
126
+ }
127
+
128
+ // Find a hash string identifying the onnx we're going to convert to
129
+ // tensorrt, plus the gpu we're going to convert it for:
130
+ std::ifstream file(onnxModelPath, std::ios::binary);
131
+ std::string trtHash = picosha2::hash256_hex_string(
132
+ std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>()
133
+ );
134
+
135
+ // hash in the cuda device name and precision::
136
+ trtHash = picosha2::hash256_hex_string(trtHash + GetCudaDeviceName( options.deviceID ));
137
+ trtHash = picosha2::hash256_hex_string(trtHash + std::to_string(int(options.precision)));
138
+
139
+ // name of the tensorrt we're going to write to (same directory as the ONNX model):
140
+ const auto filenamePos = onnxModelPath.find_last_of( '/' ) + 1;
141
+ const auto onnxDir = onnxModelPath.substr(0, filenamePos);
142
+ trtFile = onnxDir + prefix + onnxModelPath.substr( filenamePos, onnxModelPath.find_last_of( '.' ) - filenamePos );
143
+ trtFile += ".trt";
144
+
145
+ if (!forceConvert && FileExists( trtFile ) )
146
+ {
147
+ std::ifstream file(trtFile, std::ios::binary);
148
+
149
+ std::string hashInFile;
150
+ hashInFile.resize(trtHash.size());
151
+
152
+ file.read(const_cast<char*>(hashInFile.c_str()), trtHash.size());
153
+
154
+ std::cerr << "hash value in file " << hashInFile << std::endl;
155
+ std::cerr << "hash of onnx/gpu type " << trtHash << std::endl;
156
+
157
+ if(hashInFile == trtHash)
158
+ {
159
+ return true;
160
+ }
161
+ LOG_INFO( "TRT file " + trtFile + " is out of date and needs to be regenerated. This could take a while..." );
162
+ }
163
+ else
164
+ {
165
+ LOG_INFO( "TRT file " + trtFile + " not found. This could take a while to generate..." );
166
+ }
167
+
168
+
169
+ // Create engine builder
170
+ auto builder = std::unique_ptr<nvinfer1::IBuilder>( nvinfer1::createInferBuilder( s_logger ) );
171
+ if ( !builder )
172
+ {
173
+ LOG_ERROR( "Could not create builder." );
174
+ return false;
175
+ }
176
+
177
+ // Create network
178
+ const uint32_t explicitBatch = 1U << static_cast<uint32_t>( nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH );
179
+ auto network = std::unique_ptr<nvinfer1::INetworkDefinition>( builder->createNetworkV2( explicitBatch ) );
180
+ if ( !network )
181
+ {
182
+ LOG_ERROR( "Could not create network." );
183
+ return false;
184
+ }
185
+
186
+ // Create a parser for reading the onnx file.
187
+ auto parser = std::unique_ptr<nvonnxparser::IParser>( nvonnxparser::createParser( *network, s_logger ) );
188
+ if ( !parser )
189
+ {
190
+ LOG_ERROR( "Could not create ONNX parser." );
191
+ return false;
192
+ }
193
+
194
+ // Read and parse the ONNX file
195
+ auto parsed = parser->parseFromFile( onnxModelPath.c_str(), 0 );
196
+ if ( !parsed )
197
+ {
198
+ LOG_ERROR( "Unable to parse the ONNX model at: " + onnxModelPath );
199
+ return false;
200
+ }
201
+
202
+ // Ensure that all the inputs have the same batch size
203
+ const int32_t inputCount = network->getNbInputs();
204
+ if ( inputCount < 1 )
205
+ {
206
+ LOG_ERROR( "Model has no inputs." );
207
+ return false;
208
+ }
209
+
210
+ // Set dynamic axis info for inputs:
211
+ auto profile = builder->createOptimizationProfile();
212
+ for ( int32_t i = 0; i < inputCount; ++i )
213
+ {
214
+ auto t = network->getInput( i );
215
+ const auto name = t->getName();
216
+ auto dims = t->getDimensions();
217
+
218
+ bool hasDynamicAxes = false;
219
+ auto dimsMin = dims;
220
+ auto dimsOpt = dims;
221
+ auto dimsMax = dims;
222
+
223
+ for ( int32_t n = 0; n < dims.nbDims; ++n )
224
+ {
225
+ if ( dims.d[n] == -1 )
226
+ {
227
+ auto axis_sizes = options.defaultSizes;
228
+ if (options.dynamic_axes_names.contains(t->getName()))
229
+ {
230
+ auto& dynamic_axis_names = options.dynamic_axes_names.at(t->getName());
231
+ if (!dynamic_axis_names.contains(n))
232
+ {
233
+ LOG_ERROR("Tensor " + std::string(t->getName()) + " has a dynamic axes, but its name isn't specified in options.input_dynamic_axes");
234
+ return false;
235
+ }
236
+
237
+ auto axis_name = dynamic_axis_names.at(n);
238
+ if (!options.dynamic_axes_sizes.contains(axis_name))
239
+ {
240
+ LOG_ERROR("Named axis " + axis_name + " has no entry in options.dynamic_axes_sizes");
241
+ return false;
242
+ }
243
+ axis_sizes = options.dynamic_axes_sizes.at(axis_name);
244
+ }
245
+
246
+ hasDynamicAxes = true;
247
+ dimsMin.d[n] = std::get<0>( axis_sizes );
248
+ dimsOpt.d[n] = std::get<1>( axis_sizes );
249
+ dimsMax.d[n] = std::get<2>( axis_sizes );
250
+ }
251
+ }
252
+ profile->setDimensions( name, nvinfer1::OptProfileSelector::kMIN, dimsMin );
253
+ profile->setDimensions( name, nvinfer1::OptProfileSelector::kOPT, dimsOpt );
254
+ profile->setDimensions( name, nvinfer1::OptProfileSelector::kMAX, dimsMax );
255
+
256
+ if ( t->isShapeTensor() )
257
+ {
258
+ if ( !options.shape_tensor_sizes.contains( name ) )
259
+ {
260
+ LOG_ERROR( "Tensor " + std::string( name ) + " controls the shape of an internal tensor and needs an entry in options.shape_tensor_sizes" );
261
+ return false;
262
+ }
263
+ auto &sizes = options.shape_tensor_sizes.at( name );
264
+
265
+ profile->setShapeValues( name, nvinfer1::OptProfileSelector::kMIN, std::get<0>( sizes ).data(), std::get<0>( sizes ).size());
266
+ profile->setShapeValues( name, nvinfer1::OptProfileSelector::kOPT, std::get<1>( sizes ).data(), std::get<1>( sizes ).size() );
267
+ profile->setShapeValues( name, nvinfer1::OptProfileSelector::kMAX, std::get<2>( sizes ).data(), std::get<2>( sizes ).size() );
268
+ }
269
+ }
270
+
271
+ auto config = std::unique_ptr<nvinfer1::IBuilderConfig>( builder->createBuilderConfig() );
272
+ if ( !config )
273
+ {
274
+ LOG_ERROR( "Could not create builder config." );
275
+ return false;
276
+ }
277
+ config->addOptimizationProfile( profile );
278
+
279
+ // Set the precision level
280
+ if ( options.precision == Precision::FP16 )
281
+ {
282
+ // Ensure the GPU supports FP16 inference
283
+ if ( !builder->platformHasFastFp16() )
284
+ {
285
+ LOG_ERROR( "GPU does not support FP16 precision." );
286
+ return false;
287
+ }
288
+ config->setFlag( nvinfer1::BuilderFlag::kFP16 );
289
+ }
290
+
291
+ // CUDA stream used for profiling by the builder.
292
+ cudaStream_t stream;
293
+ s_logger.log( cudaStreamCreate( &stream ) );
294
+ config->setProfileStream( stream );
295
+
296
+ // Build the engine
297
+ // If this call fails, it is suggested to increase the logger verbosity to kVERBOSE and try rebuilding the engine.
298
+ // Doing so will provide you with more information on why exactly it is failing.
299
+ auto serializedNetwork = builder->buildSerializedNetwork( *network, *config );
300
+ if ( !serializedNetwork )
301
+ {
302
+ s_logger.log( cudaStreamDestroy( stream ) );
303
+
304
+ LOG_ERROR( "Failed to build the engine!" );
305
+ return false;
306
+ }
307
+
308
+ // Write the engine to disk
309
+ std::ofstream outfile( trtFile, std::ofstream::binary );
310
+
311
+ // Write the onnx/gpu hash first:
312
+ outfile.write( trtHash.c_str(), trtHash.size() );
313
+
314
+ // Write the engine:
315
+ outfile.write( reinterpret_cast<const char*>( serializedNetwork->data() ), serializedNetwork->size() );
316
+
317
+ LOG_INFO( "Saved TRT file to " + trtFile );
318
+ s_logger.log( cudaStreamDestroy( stream ) );
319
+
320
+ return true;
321
+ }
322
+
323
+ class TRTInferenceEngine::Impl
324
+ {
325
+ public:
326
+
327
+ ~Impl()
328
+ {
329
+ Destroy();
330
+ }
331
+
332
+ bool Initialize( const std::string& trtPath, int deviceIndex, const Options::AxisNames& axisNames )
333
+ {
334
+ Destroy();
335
+
336
+ // Read the serialized model from disk
337
+ std::ifstream file( trtPath, std::ios::binary | std::ios::ate );
338
+ std::streamsize size = file.tellg();
339
+ if (size < 0)
340
+ {
341
+ LOG_ERROR("Unable to read engine file!");
342
+ return false;
343
+ }
344
+
345
+ file.seekg( 0, std::ios::beg );
346
+ std::vector<char> buffer( size );
347
+ if ( !file.read( buffer.data(), size ) )
348
+ {
349
+ LOG_ERROR( "Unable to read engine file!" );
350
+ return false;
351
+ }
352
+
353
+ // Create runtime to deserialize the engine file.
354
+ m_runtime = std::unique_ptr<nvinfer1::IRuntime>( nvinfer1::createInferRuntime( s_logger ) );
355
+ if ( !m_runtime )
356
+ {
357
+ LOG_ERROR( "Unable to create a runtime inference model." );
358
+ return false;
359
+ }
360
+
361
+ // Set the device index
362
+ if ( cudaSetDevice( deviceIndex ) != cudaError_t::cudaSuccess )
363
+ {
364
+ int gpuCount;
365
+ cudaGetDeviceCount( &gpuCount );
366
+ LOG_ERROR( "Unable to set GPU device index to " + std::to_string( deviceIndex ) + ". Current device has " + std::to_string( gpuCount ) + " CUDA - capable GPU(s)." );
367
+ return false;
368
+ }
369
+
370
+ // Create an engine, a representation of the optimized model.
371
+ // skip the first 64 bytes when deserializing the engine file as they just contain a hash:
372
+ m_engine = std::unique_ptr<nvinfer1::ICudaEngine>( m_runtime->deserializeCudaEngine( buffer.data() + 64, buffer.size() - 64 ) );
373
+ if ( !m_engine )
374
+ {
375
+ LOG_ERROR("Unable to create engine.");
376
+ return false;
377
+ }
378
+
379
+ // The execution context contains all of the state associated with a particular invocation
380
+ m_context = std::unique_ptr<nvinfer1::IExecutionContext>( m_engine->createExecutionContext() );
381
+ if ( !m_context )
382
+ {
383
+ LOG_ERROR("Unable to create execution context.");
384
+ return false;
385
+ }
386
+
387
+ m_axis_names = axisNames;
388
+
389
+ const uint32_t tensorCount = m_engine->getNbIOTensors();
390
+ for (int32_t i = 0; i < tensorCount; ++i)
391
+ {
392
+ const auto tensorName = m_engine->getIOTensorName(i);
393
+ const auto tensorIOMode = m_engine->getTensorIOMode(tensorName);
394
+ m_dataTypeSizes[tensorName] = SizeOfTensorDataType(m_engine->getTensorDataType(tensorName));
395
+ }
396
+
397
+ return true;
398
+ }
399
+
400
+
401
+ bool InitInputs(const AxisSizes& axisSizes)
402
+ {
403
+ DestroyBuffers();
404
+
405
+ const uint32_t tensorCount = m_engine->getNbIOTensors();
406
+ for (int32_t i = 0; i < tensorCount; ++i)
407
+ {
408
+ const auto tensorName = m_engine->getIOTensorName(i);
409
+ const auto tensorIOMode = m_engine->getTensorIOMode(tensorName);
410
+ auto tensorShape = m_engine->getTensorShape(tensorName);
411
+ const auto tensorDataType = m_engine->getTensorDataType(tensorName);
412
+
413
+ for (int32_t n = 0; n < tensorShape.nbDims; ++n)
414
+ {
415
+ if (tensorShape.d[n] == -1)
416
+ {
417
+ int64_t batchSize = 1;
418
+ if (m_axis_names.contains(tensorName))
419
+ {
420
+
421
+ auto& dynamic_axis_names = m_axis_names.at(tensorName);
422
+ if (!dynamic_axis_names.contains(n))
423
+ {
424
+ LOG_ERROR("Tensor " + std::string(tensorName) + " has a dynamic axes, but its name isn't specified in axisNames");
425
+ return false;
426
+ }
427
+
428
+ auto axis_name = dynamic_axis_names.at(n);
429
+ if (!axisSizes.contains(axis_name))
430
+ {
431
+ LOG_ERROR("Named axis " + axis_name + " has no entry in axisSizes");
432
+ return false;
433
+ }
434
+
435
+ batchSize = axisSizes.at(axis_name);
436
+ }
437
+ else if (axisSizes.size() > 0)
438
+ {
439
+ batchSize = axisSizes.begin()->second;
440
+ }
441
+
442
+ tensorShape.d[n] = batchSize;
443
+ if (tensorIOMode == nvinfer1::TensorIOMode::kINPUT)
444
+ {
445
+ auto batchMin = m_engine->getProfileShape(tensorName, 0, nvinfer1::OptProfileSelector::kMIN).d[n];
446
+ auto batchMax = m_engine->getProfileShape(tensorName, 0, nvinfer1::OptProfileSelector::kMAX).d[n];
447
+ if (batchSize < batchMin || batchSize > batchMax)
448
+ {
449
+ LOG_ERROR("Batch size " + std::to_string(batchSize) + " is outside of possible range [ " + std::to_string(batchMin) + ", " + std::to_string(batchMax) + "].");
450
+ return false;
451
+ }
452
+ }
453
+ }
454
+ }
455
+
456
+ m_tensorShapes[tensorName] = tensorShape;
457
+ static const std::string dataTypeStr[] = { "FLOAT", "HALF", "INT8", "INT32", "BOOL", "UINT8", "FP8", "BF16", "INT64" };
458
+ static const std::string ioTypeStr[] = { "NONE", "INPUT", "OUTPUT" };
459
+ std::string tensorInfo = ioTypeStr[int(tensorIOMode)] + " Tensor: " + std::string(tensorName) + " [";
460
+ size_t elementCount = 1;
461
+ for (int32_t d = 0; d < tensorShape.nbDims; ++d)
462
+ {
463
+ if (d != 0)
464
+ tensorInfo += ", ";
465
+
466
+ tensorInfo += std::to_string(tensorShape.d[d]);
467
+
468
+ if (elementCount > INT64_MAX / tensorShape.d[d])
469
+ {
470
+ LOG_ERROR("Tensor too large: element count overflow");
471
+ return false;
472
+ }
473
+ elementCount *= tensorShape.d[d];
474
+ }
475
+ tensorInfo += "]. " + std::to_string(elementCount) + " elements of type " + dataTypeStr[int(tensorDataType)];
476
+ LOG_INFO(tensorInfo);
477
+
478
+ const auto sizeOfTensorData = SizeOfTensorDataType(tensorDataType);
479
+ if (sizeOfTensorData == -1)
480
+ {
481
+ LOG_ERROR("Unknown tensor data type " + std::to_string((int)tensorDataType) + ".");
482
+ return false;
483
+ }
484
+
485
+ void* cudaBuffer;
486
+ size_t size = elementCount * sizeOfTensorData;
487
+ auto err = cudaMalloc(&cudaBuffer, size);
488
+ s_logger.log(err);
489
+ if (err != cudaSuccess)
490
+ {
491
+ LOG_ERROR("Failed to allocate CUDA memory");
492
+ return false;
493
+ }
494
+
495
+ s_logger.log(cudaMemset(cudaBuffer, 0, size));
496
+
497
+ m_context->setTensorAddress(tensorName, cudaBuffer);
498
+ if (tensorIOMode == nvinfer1::TensorIOMode::kINPUT)
499
+ {
500
+ m_inputBuffers[tensorName] = cudaBuffer;
501
+ }
502
+ else
503
+ {
504
+ m_outputBuffers[tensorName] = cudaBuffer;
505
+ }
506
+ }
507
+
508
+ // Set input tensor shapes to specified batch size
509
+ for (int i = 0; i < tensorCount; ++i)
510
+ {
511
+ const auto tensorName = m_engine->getIOTensorName(i);
512
+ if (m_engine->getTensorIOMode(tensorName) != nvinfer1::TensorIOMode::kINPUT)
513
+ continue;
514
+
515
+ auto tensorShape = m_tensorShapes[tensorName];
516
+
517
+ m_context->setInputShape(tensorName, tensorShape);
518
+ }
519
+
520
+ return true;
521
+ }
522
+
523
+ void DestroyBuffers()
524
+ {
525
+ for (auto& kv : m_inputBuffers)
526
+ {
527
+ s_logger.log(cudaFree(kv.second));
528
+ }
529
+ for (auto& kv : m_outputBuffers)
530
+ {
531
+ s_logger.log(cudaFree(kv.second));
532
+ }
533
+
534
+ m_inputBuffers.clear();
535
+ m_outputBuffers.clear();
536
+ m_tensorShapes.clear();
537
+ }
538
+
539
+ void Destroy()
540
+ {
541
+ DestroyBuffers();
542
+
543
+ m_context.reset();
544
+ m_engine.reset();
545
+ m_runtime.reset();
546
+ }
547
+
548
+ bool ValidateTensorSize(const std::string& name, size_t byteCount) const
549
+ {
550
+ if (m_tensorShapes.empty())
551
+ {
552
+ LOG_ERROR("ValidateTensorSize: InitInputs has not been called.");
553
+ return false;
554
+ }
555
+
556
+ if (!m_tensorShapes.contains(name))
557
+ {
558
+ LOG_ERROR("ValidateTensorSize: Tensor " + name + " not found.");
559
+ return false;
560
+ }
561
+
562
+ size_t elementCount = 1;
563
+ const auto& tensorShape = m_tensorShapes.at(name);
564
+ for (int32_t d = 0; d < tensorShape.nbDims; ++d)
565
+ elementCount *= tensorShape.d[d];
566
+
567
+ const size_t expectedByteCount = elementCount * m_dataTypeSizes.at(name);
568
+ if (expectedByteCount != byteCount)
569
+ {
570
+ LOG_ERROR(
571
+ "Invalid data size for tensor [" + name + "] containing " + std::to_string(elementCount) + " elements. Expected " +
572
+ std::to_string(expectedByteCount) + " bytes, got " + std::to_string(byteCount) + " bytes instead.");
573
+ return false;
574
+ }
575
+
576
+ return true;
577
+ }
578
+
579
+ std::vector<std::string> GetInputBufferNames() const
580
+ {
581
+ std::vector<std::string> names;
582
+ names.reserve(m_inputBuffers.size());
583
+
584
+ for (const auto& pair : m_inputBuffers)
585
+ {
586
+ names.push_back(pair.first);
587
+ }
588
+ return names;
589
+ }
590
+
591
+ std::vector<std::string> GetOutputBufferNames() const
592
+ {
593
+ std::vector<std::string> names;
594
+ names.reserve(m_outputBuffers.size());
595
+
596
+ for (const auto& pair : m_outputBuffers)
597
+ {
598
+ names.push_back(pair.first);
599
+ }
600
+ return names;
601
+ }
602
+
603
+ void SetInputData(const std::string& name, const void* data, size_t byteCount)
604
+ {
605
+ if(!ValidateTensorSize(name, byteCount))
606
+ {
607
+ LOG_ERROR("SetInputData: Tensor " + name + " is not valid.");
608
+ return;
609
+ }
610
+ s_logger.log(cudaMemcpy(m_inputBuffers[name], data, byteCount, cudaMemcpyHostToDevice));
611
+ }
612
+
613
+ void SetInputDataAsync(const std::string& name, const void* data, size_t byteCount, cudaStream_t stream)
614
+ {
615
+ if(!ValidateTensorSize(name, byteCount))
616
+ {
617
+ LOG_ERROR("SetInputDataAsync: Tensor " + name + " is not valid.");
618
+ return;
619
+ }
620
+ s_logger.log(cudaMemcpyAsync(m_inputBuffers[name], data, byteCount, cudaMemcpyHostToDevice, stream));
621
+ }
622
+
623
+ void GetOutputData(const std::string& name, void* data, size_t byteCount)
624
+ {
625
+ if(!ValidateTensorSize(name, byteCount))
626
+ {
627
+ LOG_ERROR("GetOutputData: Tensor " + name + " is not valid.");
628
+ return;
629
+ }
630
+ s_logger.log(cudaMemcpy(data, m_outputBuffers[name], byteCount, cudaMemcpyDeviceToHost));
631
+ }
632
+
633
+ void GetOutputDataAsync(const std::string& name, void* data, size_t byteCount, cudaStream_t stream)
634
+ {
635
+ if(!ValidateTensorSize(name, byteCount))
636
+ {
637
+ LOG_ERROR("GetOutputDataAsync: Tensor " + name + " is not valid.");
638
+ return;
639
+ }
640
+ s_logger.log(cudaMemcpyAsync(data, m_outputBuffers[name], byteCount, cudaMemcpyDeviceToHost, stream));
641
+ }
642
+
643
+ bool Enqueue( cudaStream_t stream )
644
+ {
645
+ if (m_tensorShapes.empty())
646
+ {
647
+ LOG_ERROR("Enqueue: InitInputs has not been called.");
648
+ return false;
649
+ }
650
+
651
+ if (!m_context->allInputDimensionsSpecified())
652
+ {
653
+ LOG_ERROR("Inference engine inputs aren't defined.");
654
+ return false;
655
+ }
656
+
657
+ if(!m_context->enqueueV3(stream))
658
+ {
659
+ LOG_ERROR("Enqueue: Failed to enqueue.");
660
+ return false;
661
+ }
662
+ return true;
663
+ }
664
+
665
+ bool GetTensorShape(std::string name, std::vector<int64_t>& shape) const
666
+ {
667
+ if (m_tensorShapes.empty())
668
+ {
669
+ LOG_ERROR("ValidateTensorSize: InitInputs has not been called.");
670
+ return false;
671
+ }
672
+
673
+ if (!m_tensorShapes.contains(name))
674
+ {
675
+ LOG_ERROR("ValidateTensorSize: Tensor " + name + " not found.");
676
+ return false;
677
+ }
678
+
679
+ const auto& tensorShape = m_tensorShapes.at(name);
680
+ shape.clear();
681
+ for (int dim=0; dim < tensorShape.nbDims; ++dim)
682
+ {
683
+ shape.push_back(tensorShape.d[dim]);
684
+ }
685
+ return true;
686
+ }
687
+
688
+ nvinfer1::DataType GetTensorDataType(std::string name) const
689
+ {
690
+ auto tensorDataType = m_engine->getTensorDataType(name.c_str());
691
+ return tensorDataType;
692
+ }
693
+
694
+ std::unique_ptr<nvinfer1::IExecutionContext> m_context = nullptr;
695
+ std::unique_ptr<nvinfer1::ICudaEngine> m_engine = nullptr;
696
+ std::unique_ptr<nvinfer1::IRuntime> m_runtime = nullptr;
697
+
698
+ std::map<std::string, nvinfer1::Dims> m_tensorShapes;
699
+
700
+ std::map<std::string, void*> m_inputBuffers;
701
+ std::map<std::string, void*> m_outputBuffers;
702
+
703
+ std::map<std::string, int> m_dataTypeSizes;
704
+
705
+ Options::AxisNames m_axis_names;
706
+ };
707
+
708
+ TRTInferenceEngine::TRTInferenceEngine() : m_impl( new Impl )
709
+ {
710
+ }
711
+
712
+ TRTInferenceEngine::~TRTInferenceEngine()
713
+ {
714
+ }
715
+
716
+ bool TRTInferenceEngine::Initialize(const std::string& trtPath, int deviceIndex, const Options::AxisNames& axisNames)
717
+ {
718
+ return m_impl->Initialize(trtPath, deviceIndex, axisNames);
719
+ }
720
+
721
+ bool TRTInferenceEngine::InitInputs(const AxisSizes& axisSizes)
722
+ {
723
+ return m_impl->InitInputs(axisSizes);
724
+ }
725
+
726
+ void TRTInferenceEngine::Destroy()
727
+ {
728
+ m_impl->Destroy();
729
+ }
730
+
731
+ std::vector<std::string> TRTInferenceEngine::GetInputTensorNames() const
732
+ {
733
+ return m_impl->GetInputBufferNames();
734
+ }
735
+
736
+ std::vector<std::string> TRTInferenceEngine::GetOutputTensorNames() const
737
+ {
738
+ return m_impl->GetOutputBufferNames();
739
+ }
740
+
741
+ void TRTInferenceEngine::SetInputData(const std::string& name, const void* data, size_t byteCount)
742
+ {
743
+ m_impl->SetInputData(name, data, byteCount);
744
+ }
745
+
746
+ void TRTInferenceEngine::GetOutputData(const std::string& name, void* data, size_t byteCount)
747
+ {
748
+ m_impl->GetOutputData( name, data, byteCount);
749
+ }
750
+
751
+ void TRTInferenceEngine::SetInputDataAsync(const std::string& name, const void* data, size_t byteCount, cudaStream_t stream)
752
+ {
753
+ m_impl->SetInputDataAsync(name, data, byteCount, stream);
754
+ }
755
+
756
+ void TRTInferenceEngine::GetOutputDataAsync(const std::string& name, void* data, size_t byteCount, cudaStream_t stream)
757
+ {
758
+ m_impl->GetOutputDataAsync(name, data, byteCount, stream);
759
+ }
760
+
761
+ bool TRTInferenceEngine::Enqueue(cudaStream_t stream)
762
+ {
763
+ return m_impl->Enqueue(stream);
764
+ }
765
+
766
+ bool TRTInferenceEngine::GetTensorShape(std::string name, std::vector<int64_t>& shape) const
767
+ {
768
+ return m_impl->GetTensorShape(name, shape);
769
+ }
770
+
771
+ DataType TRTInferenceEngine::GetTensorDataType(std::string name) const
772
+ {
773
+ auto dataType = m_impl->GetTensorDataType(name);
774
+ switch (dataType)
775
+ {
776
+ case nvinfer1::DataType::kFLOAT:
777
+ return DataType::FLOAT;
778
+ case nvinfer1::DataType::kHALF:
779
+ return DataType::HALF;
780
+ case nvinfer1::DataType::kINT8:
781
+ return DataType::INT8;
782
+ case nvinfer1::DataType::kINT32:
783
+ return DataType::INT32;
784
+ case nvinfer1::DataType::kBOOL:
785
+ return DataType::BOOL;
786
+ case nvinfer1::DataType::kUINT8:
787
+ return DataType::UINT8;
788
+ case nvinfer1::DataType::kINT64:
789
+ return DataType::INT64;
790
+ default:
791
+ LOG_ERROR("ValidateTensorSize: Tensor " + name + " not found.");
792
+ return DataType::UNKNOWN;
793
+ }
794
+ }
third-party/GR00T-WholeBodyControl/gear_sonic_deploy/src/TRTInference/InferenceEngine.h ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #pragma once
2
+
3
+ #include "Utility.h"
4
+
5
+ #include <string>
6
+ #include <memory>
7
+ #include <vector>
8
+ #include <map>
9
+
10
+ enum class Precision
11
+ {
12
+ FP32,
13
+ FP16
14
+ };
15
+
16
+ enum class DataType
17
+ {
18
+ FLOAT,
19
+ HALF,
20
+ INT8,
21
+ INT32,
22
+ BOOL,
23
+ UINT8,
24
+ INT64,
25
+ UNKNOWN
26
+ };
27
+
28
+
29
+ struct Options
30
+ {
31
+ using AxisNames = std::map< std::string, std::map<int, std::string> >;
32
+ using AxisSizes = std::map<std::string, std::tuple<int, int, int> >;
33
+ using ShapeTensorSizes = std::map<std::string, std::tuple<std::vector<int>, std::vector<int>, std::vector<int>> >;
34
+
35
+ Precision precision = Precision::FP32;
36
+ AxisNames dynamic_axes_names;
37
+ AxisSizes dynamic_axes_sizes;
38
+ ShapeTensorSizes shape_tensor_sizes;
39
+ std::tuple<int, int, int> defaultSizes = { 1,8,16 };
40
+ int deviceID = 0;
41
+ };
42
+
43
+ bool ConvertONNXToTRT(
44
+ const Options& options,
45
+ const std::string& onnxModelPath,
46
+ std::string& generatedTRTFile,
47
+ const std::string prefix = "",
48
+ bool forceConvert = false
49
+ );
50
+
51
+ // Forward declaration
52
+ typedef struct CUstream_st *cudaStream_t;
53
+
54
+ class TRTInferenceEngine
55
+ {
56
+ public:
57
+ TRTInferenceEngine();
58
+ ~TRTInferenceEngine();
59
+
60
+ using AxisSizes = std::map<std::string, int >;
61
+ bool Initialize(const std::string& trtPath, int deviceID, const Options::AxisNames& axisNames = {});
62
+ bool InitInputs(const AxisSizes& axisSizes = {});
63
+ void Destroy();
64
+
65
+ void SetInputData(const std::string& name, const void* data, size_t byteCount);
66
+ template<typename T> void SetInputData(const std::string& name, const T* data, size_t elementCount);
67
+ template<typename T> void SetInputData(const std::string& name, const TPinnedVector<T>& data);
68
+
69
+ void GetOutputData(const std::string& name, void* data, size_t byteCount);
70
+ template<typename T> void GetOutputData(const std::string& name, T* data, size_t elementCount);
71
+ template<typename T> void GetOutputData(const std::string& name, TPinnedVector<T>& data);
72
+
73
+ void SetInputDataAsync(const std::string& name, const void* data, size_t byteCount, cudaStream_t stream);
74
+ template<typename T> void SetInputDataAsync(const std::string& name, const T* data, size_t elementCount, cudaStream_t stream);
75
+ template<typename T> void SetInputDataAsync(const std::string& name, const TPinnedVector<T>& data, cudaStream_t stream);
76
+
77
+ void GetOutputDataAsync(const std::string& name, void* data, size_t byteCount, cudaStream_t stream);
78
+ template<typename T> void GetOutputDataAsync(const std::string& name, T* data, size_t elementCount, cudaStream_t stream);
79
+ template<typename T> void GetOutputDataAsync(const std::string& name, TPinnedVector<T>& data, cudaStream_t stream);
80
+
81
+ std::vector<std::string> GetInputTensorNames() const;
82
+ std::vector<std::string> GetOutputTensorNames() const;
83
+
84
+ bool GetTensorShape(std::string name, std::vector<int64_t>& shape) const;
85
+ DataType GetTensorDataType(std::string name) const;
86
+ bool Enqueue(cudaStream_t stream);
87
+
88
+ private:
89
+ class Impl;
90
+ std::shared_ptr<Impl> m_impl = nullptr;
91
+ };
92
+
93
+ #include "InferenceEngine.inl"