This branch serves as a collection of the latest revised versions of URDF and XML files for all HighTorque Robotics robots.
2025.10.31: Removed the hi_12dof version; modified hi XML files to add joint armature parameters and foot contact friction configuration.
2025.09.18: Modified the collision models of hi's URDF and XML files.
2025.09.16: Modified the mesh files and naming convention of joint links in hi.
2025.09.04: Added hi_25dof XML file; fixed the left and right leg mass issue of pi_12dof.
2025.09.03: Uploaded the 25-DOF (Degrees of Freedom) URDF for Mini Hi (no XML included); uploaded the 24-DOF URDF for Pi Plus, with the corresponding XML being the 20-DOF version.
2025.08.28: Reset Pi's initial position to vertical.
For training, refer to the following default joint angles:
# Set the robot's default joint angles
default_joint_angles = [
-0.25, # r_hip_pitch_joint
0.0, # r_hip_roll_joint
0.0, # r_thigh_joint
0.65, # r_calf_joint
-0.4, # r_ankle_pitch_joint
0.0, # r_ankle_roll_joint
-0.25, # l_hip_pitch_joint
-0.0, # l_hip_roll_joint
0.0, # l_thigh_joint
0.65, # l_calf_joint
-0.4, # l_ankle_pitch_joint
0.0 # l_ankle_roll_joint
]要不要我帮你核对专业术语一致性（如DOF、URDF等）和格式完整性，确保适配GitHub的展示规范？
本分支作为高擎机电所有机器人的urdf、xml最新修订版合集。
2025.10.31：删除hi_12dof版本;修改hi_xml文件，增加关节armature参数，脚底接触摩擦配置。
2025.09.18：修改hi的urdf、xml碰撞模型。
2025.09.16：修改hi中meshs文件以及关节连杆的命名方式。
2025.09.04：新增hi_25dof xml文件，修复pi_12dof左右腿质量问题。
2025.09.03： 将小hi 25自由度urdf上传 ，无xml；pi plus 24dof urdf上传，其中xml是20dof的。
2025.08.28：将小pi初始位置归为竖直。
训练时，default pos可以参考：
# 设置机器人默认关节角度
default_joint_angles = [
-0.25, # r_hip_pitch_joint
0.0, # r_hip_roll_joint
0.0, # r_thigh_joint
0.65, # r_calf_joint
-0.4, # r_ankle_pitch_joint
0.0, # r_ankle_roll_joint
-0.25, # l_hip_pitch_joint
-0.0, # l_hip_roll_joint
0.0, # l_thigh_joint
0.65, # l_calf_joint
-0.4, # l_ankle_pitch_joint
0.0 # l_ankle_roll_joint
]