Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
29 lines
1003 B
Markdown
29 lines
1003 B
Markdown
# Unitree H1 Description (MJCF)
|
|
|
|
Requires MuJoCo 2.2.2 or later.
|
|
|
|
## Overview
|
|
|
|
This package contains a simplified robot description (MJCF) of the [H1 Humanoid
|
|
Robot](https://www.unitree.com/h1/) developed by [Unitree
|
|
Robotics](https://www.unitree.com/). The original URDF and assets were provided
|
|
directly by [Unitree Robotics](https://www.unitree.com/) under a [BSD-3-Clause
|
|
License](LICENSE).
|
|
|
|
<p float="left">
|
|
<img src="h1.png" width="400">
|
|
</p>
|
|
|
|
## URDF → MJCF derivation steps
|
|
|
|
1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
|
|
`<robot>` clause in order to preserve visual geometries.
|
|
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
|
|
3. Manually edited the MJCF to extract common properties into the `<default>` section.
|
|
4. Added actuators.
|
|
5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
|
|
|
|
## License
|
|
|
|
This model is released under a [BSD-3-Clause License](LICENSE).
|