sync recent changes

eval_robot/assets/brainco_hand/brainco.yml

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+left:
+  type: DexPilot # or vector
+  urdf_path: brainco_hand/brainco_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: 
+    [
+      "left_thumb_metacarpal_joint",
+      "left_thumb_proximal_joint",
+      "left_index_proximal_joint",
+      "left_middle_proximal_joint",
+      "left_ring_proximal_joint",
+      "left_pinky_proximal_joint",
+    ]
+
+  # for DexPilot type
+  wrist_link_name: "base_link"
+  finger_tip_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
+  # If you do not know exactly how it is used, please leave it to None for default.
+  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
+
+  # for vector type
+  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
+  target_task_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
+  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # Scaling factor for vector retargeting only
+  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
+  scaling_factor: 0.90
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
+
+right:
+  type: DexPilot # or vector
+  urdf_path: brainco_hand/brainco_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: 
+    [
+      "right_thumb_metacarpal_joint",
+      "right_thumb_proximal_joint",
+      "right_index_proximal_joint",
+      "right_middle_proximal_joint",
+      "right_ring_proximal_joint",
+      "right_pinky_proximal_joint",
+    ]
+  # for DexPilot type
+  wrist_link_name: "base_link"
+  finger_tip_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
+  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
+  
+  # for vector type
+  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
+  target_task_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
+  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # Scaling factor for vector retargeting only
+  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
+  scaling_factor: 0.90
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

eval_robot/assets/g1/.gitignore

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+*.gv
+*.pdf

eval_robot/assets/g1/README.md

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+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+MJCF/URDF for the G1 robot:
+
+| MJCF/URDF file name           | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof`                    |       1        |           14.5           | Beta          |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof`                    |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |   6*2   |     1     |   7*2   |    0     |
+| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |   6*2   |     1     |   7*2   |    0     |
+| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |    0    |     0     |   7*2   |    0     |
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
+
+## Note for teleoperate
+g1_body29_hand14 is modified from [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf)