41 lines
1.4 KiB
Markdown
41 lines
1.4 KiB
Markdown
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# Berkeley Humanoid Description (MJCF)
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> [!IMPORTANT]
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> Requires MuJoCo 2.3.4 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Berkeley
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Humanoid](https://berkeley-humanoid.com/) developed by the [Hybrid Robotics
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Lab](https://hybrid-robotics.berkeley.edu/) at UC Berkeley. It is derived from the [publicly available URDF description](https://github.com/HybridRobotics/berkeley_humanoid_description).
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<p float="left">
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<img src="berkeley_humanoid.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Manually edited the MJCF to extract common properties into the `<default>` section.
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2. Added a spotlight and tracking light.
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3. Added a site for the IMU.
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4. Added a camera for tracking.
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5. Extracted joint and actuator properties from the [IsaacLab training code](https://github.com/HybridRobotics/isaac_berkeley_humanoid).
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6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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## License
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This model is released under a [BSD-3-Clause License](LICENSE).
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## Publications
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The Berkeley Humanoid is described in the following publication:
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```bibtex
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@misc{2407.21781,
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Author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
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Title = {Berkeley Humanoid: A Research Platform for Learning-based Control},
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Year = {2024},
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Eprint = {arXiv:2407.21781},
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}
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```
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