29 lines
1003 B
Markdown
29 lines
1003 B
Markdown
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# Unitree H1 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [H1 Humanoid
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Robot](https://www.unitree.com/h1/) developed by [Unitree
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Robotics](https://www.unitree.com/). The original URDF and assets were provided
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directly by [Unitree Robotics](https://www.unitree.com/) under a [BSD-3-Clause
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License](LICENSE).
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<p float="left">
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<img src="h1.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
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`<robot>` clause in order to preserve visual geometries.
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2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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3. Manually edited the MJCF to extract common properties into the `<default>` section.
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4. Added actuators.
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5. 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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