LuckyWorld/SourceFiles/mujoco_menagerie-main/berkeley_humanoid

Berkeley Humanoid Description (MJCF)

Important

Requires MuJoCo 2.3.4 or later.

Overview

This package contains a simplified robot description (MJCF) of the Berkeley Humanoid developed by the Hybrid Robotics Lab at UC Berkeley. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Manually edited the MJCF to extract common properties into the <default> section.
2. Added a spotlight and tracking light.
3. Added a site for the IMU.
4. Added a camera for tracking.
5. Extracted joint and actuator properties from the IsaacLab training code.
6. 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.

Publications

The Berkeley Humanoid is described in the following publication:

@misc{2407.21781,
    Author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
    Title = {Berkeley Humanoid: A Research Platform for Learning-based Control},
    Year = {2024},
    Eprint = {arXiv:2407.21781},
}