feat(sim2sim): Add 29 DOF G1 robot model and deployment scripts (深蓝学院)

README.md

@@ -93,6 +93,12 @@ For example, to play the CarryBox task:
 python legged_gym/scripts/play.py --task carrybox --resume_path resources/ckpt/carrybox.pt
 ```
 
+### Sim2sim(Mujoco)
+Only for sim2sim testing of the carry box task.
+```bash
+python deploy/deploy_mujoco/deploy_mujoco.py g1.yaml
+```
+
 > ⚠️ Note:
 > 
 > During the first 1–2 episodes of `play.py`, you may observe slight interpenetration between the robot, the object, or the platform.

legged_gym/deploy/deploy_mujoco/configs/g1.yaml

@@ -0,0 +1,41 @@
+policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/carrybox.pt"
+xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1/g1_29dof.xml"
+
+# Simulation settings
+simulation_duration: 10.0
+simulation_dt: 0.002
+control_decimation: 10
+
+# PD gains (29 DOF)
+kps: [150, 150, 150, 300, 40, 40,       # left leg
+       150, 150, 150, 300, 40, 40,       # right leg
+       300, 300, 300,                    # waist
+       200, 200, 200, 100, 20, 20, 20,   # left arm
+       200, 200, 200, 100, 20, 20, 20]   # right arm
+
+kds: [2, 2, 2, 4, 1, 1,                # left leg
+      2, 2, 2, 4, 1, 1,                 # right leg
+      4, 4, 4,                           # waist
+      3, 3, 3, 1, 0.5, 0.5, 0.5,        # left arm
+      3, 3, 3, 1, 0.5, 0.5, 0.5]        # right arm
+
+# Default joint angles (rad)
+default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,     # left leg
+                -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,     # right leg
+                 0.0, 0.0, 0.0,                        # waist
+                 0.0, 0.1, 0.0, 1.2, 0.0, 0.0, 0.0,   # left arm
+                 0.0, -0.1, 0.0, 1.2, 0.0, 0.0, 0.0]  # right arm
+
+# Observation and action scaling
+ang_vel_scale: 0.25
+dof_pos_scale: 1.0
+dof_vel_scale: 0.05
+action_scale: 0.25
+
+# Dimensions
+num_actions: 29
+num_obs: 123
+
+# Clipping
+clip_observations: 100.0
+clip_actions: 100.0