Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
28 lines
998 B
Markdown
28 lines
998 B
Markdown
# Unitree Z1 description (MJCF)
|
|
|
|
Requires MuJoCo 2.3.3 or later.
|
|
|
|
## Overview
|
|
|
|
This package contains a simplified robot description (MJCF) of the [Z1
|
|
manipulator](https://www.unitree.com/z1/) developed by [Unitree
|
|
Robotics](https://www.unitree.com/). It is derived from the [publicly available
|
|
URDF
|
|
description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/z1_description/).
|
|
|
|
<p float="left">
|
|
<img src="z1.png" width="400">
|
|
</p>
|
|
|
|
## URDF → MJCF derivation steps
|
|
|
|
1. Added `<mujoco><compiler discardvisual="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 position-control 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).
|