G1 + dual Sharpa Wave (mode 15)

Canonical standalone MuJoCo asset exported from the HDMI G1 + Sharpa composition. The bundle is self-contained and intended to be shared by HDMI, any4hdmi, and motion-retargeting tools.

Interface

nq: 80
nv: 79
nu: 44
G1 body reference joints: 29
left Sharpa joints: 22
right Sharpa joints: 22

Load model.xml with MuJoCo. See model_layout.json for ordered model names, qpos addresses, joint groups, and actuator targets. See provenance.json for the exact source references used during export.

Sources

G1 MJCF: elijahgalahad/g1_xmls
Sharpa Wave: google-deepmind/mujoco_menagerie/sharpa_wave
Manufacturer model: sharpa-robotics/sharpa-urdf-usd-xml

Review the upstream projects' license terms before redistribution or use.

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Robotics