Add Unitree H1 humanoid robot.

PiperOrigin-RevId: 579929828 Change-Id: I4f7ee0464b14acae066367fc075544ec2f0dacd7
google-deepmind · Nov 6, 2023 · 56c951b · 56c951b
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diff --git a/LICENSE b/LICENSE
@@ -2210,6 +2210,39 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'unitree_h1/'
+================================================================================
+
+Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
 ================================================================================
 License for contents in the directory 'universal_robots_ur10e/'
 ================================================================================

diff --git a/README.md b/README.md
@@ -169,6 +169,8 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Mobile Manipulators|              |         |
 | [Google Robot](google_robot/README.md)|[<img src="google_robot/robot.png" width="400">](google_robot/README.md)|B|
 | [Stretch 2](hello_robot_stretch/README.md)|[<img src="hello_robot_stretch/stretch.png" width="400">](hello_robot_stretch/README.md)|C|
+| Humanoids          |              |         |
+| [Unitree H1](unitree_h1/README.md)|[<img src="unitree_h1/h1.png" width="400">](unitree_h1/README.md)|B|
 | Drones             |              |         |
 | [Skydio X2](skydio_x2/README.md)|[<img src="skydio_x2/x2.png" width="400">](skydio_x2/README.md)|A|
 | Other              |              |         |

diff --git a/unitree_h1/LICENSE b/unitree_h1/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/unitree_h1/README.md b/unitree_h1/README.md
@@ -0,0 +1,28 @@
+# 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).
diff --git a/unitree_h1/assets/left_ankle_link.stl b/unitree_h1/assets/left_ankle_link.stl
diff --git a/unitree_h1/assets/left_elbow_link.stl b/unitree_h1/assets/left_elbow_link.stl
diff --git a/unitree_h1/assets/left_hip_pitch_link.stl b/unitree_h1/assets/left_hip_pitch_link.stl
diff --git a/unitree_h1/assets/left_hip_roll_link.stl b/unitree_h1/assets/left_hip_roll_link.stl
diff --git a/unitree_h1/assets/left_hip_yaw_link.stl b/unitree_h1/assets/left_hip_yaw_link.stl
diff --git a/unitree_h1/assets/left_knee_link.stl b/unitree_h1/assets/left_knee_link.stl
diff --git a/unitree_h1/assets/left_shoulder_pitch_link.stl b/unitree_h1/assets/left_shoulder_pitch_link.stl
diff --git a/unitree_h1/assets/left_shoulder_roll_link.stl b/unitree_h1/assets/left_shoulder_roll_link.stl
diff --git a/unitree_h1/assets/left_shoulder_yaw_link.stl b/unitree_h1/assets/left_shoulder_yaw_link.stl
diff --git a/unitree_h1/assets/logo_link.stl b/unitree_h1/assets/logo_link.stl
diff --git a/unitree_h1/assets/pelvis.stl b/unitree_h1/assets/pelvis.stl
diff --git a/unitree_h1/assets/right_ankle_link.stl b/unitree_h1/assets/right_ankle_link.stl
diff --git a/unitree_h1/assets/right_elbow_link.stl b/unitree_h1/assets/right_elbow_link.stl
diff --git a/unitree_h1/assets/right_hip_pitch_link.stl b/unitree_h1/assets/right_hip_pitch_link.stl
diff --git a/unitree_h1/assets/right_hip_roll_link.stl b/unitree_h1/assets/right_hip_roll_link.stl
diff --git a/unitree_h1/assets/right_hip_yaw_link.stl b/unitree_h1/assets/right_hip_yaw_link.stl
diff --git a/unitree_h1/assets/right_knee_link.stl b/unitree_h1/assets/right_knee_link.stl
diff --git a/unitree_h1/assets/right_shoulder_pitch_link.stl b/unitree_h1/assets/right_shoulder_pitch_link.stl
diff --git a/unitree_h1/assets/right_shoulder_roll_link.stl b/unitree_h1/assets/right_shoulder_roll_link.stl
diff --git a/unitree_h1/assets/right_shoulder_yaw_link.stl b/unitree_h1/assets/right_shoulder_yaw_link.stl
diff --git a/unitree_h1/assets/torso_link.stl b/unitree_h1/assets/torso_link.stl
diff --git a/unitree_h1/h1.png b/unitree_h1/h1.png
diff --git a/unitree_h1/h1.xml b/unitree_h1/h1.xml
@@ -0,0 +1,227 @@
+<mujoco model="h1">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <default>
+    <default class="h1">
+      <geom type="mesh"/>
+      <joint damping="1" armature="0.1"/>
+      <default class="visual">
+        <geom contype="0" conaffinity="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" mass="0" density="0"/>
+      </default>
+      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+
+    <mesh file="pelvis.stl"/>
+    <mesh file="left_hip_yaw_link.stl"/>
+    <mesh file="left_hip_roll_link.stl"/>
+    <mesh file="left_hip_pitch_link.stl"/>
+    <mesh file="left_knee_link.stl"/>
+    <mesh file="left_ankle_link.stl"/>
+    <mesh file="right_hip_yaw_link.stl"/>
+    <mesh file="right_hip_roll_link.stl"/>
+    <mesh file="right_hip_pitch_link.stl"/>
+    <mesh file="right_knee_link.stl"/>
+    <mesh file="right_ankle_link.stl"/>
+    <mesh file="torso_link.stl"/>
+    <mesh file="left_shoulder_pitch_link.stl"/>
+    <mesh file="left_shoulder_roll_link.stl"/>
+    <mesh file="left_shoulder_yaw_link.stl"/>
+    <mesh file="left_elbow_link.stl"/>
+    <mesh file="right_shoulder_pitch_link.stl"/>
+    <mesh file="right_shoulder_roll_link.stl"/>
+    <mesh file="right_shoulder_yaw_link.stl"/>
+    <mesh file="right_elbow_link.stl"/>
+    <mesh file="logo_link.stl"/>
+  </asset>
+
+  <worldbody>
+    <light mode="targetbodycom" target="torso_link" pos="1 0 2.5"/>
+    <body name="pelvis" pos="0 0 1.1" childclass="h1">
+      <inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
+        diaginertia="0.0490211 0.0445821 0.00824619"/>
+      <freejoint/>
+      <geom class="visual" mesh="pelvis"/>
+      <geom class="collision" mesh="pelvis"/>
+      <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
+        <inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
+          diaginertia="0.00304494 0.00296885 0.00189201"/>
+        <joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
+        <geom class="visual" mesh="left_hip_yaw_link"/>
+        <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
+        <body name="left_hip_roll_link" pos="0.039468 0 0">
+          <inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
+            diaginertia="0.00243264 0.00225325 0.00205492"/>
+          <joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
+          <geom class="visual" mesh="left_hip_roll_link"/>
+          <geom class="collision" mesh="left_hip_roll_link"/>
+          <body name="left_hip_pitch_link" pos="0 0.11536 0">
+            <inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
+              diaginertia="0.0829503 0.0821457 0.00510909"/>
+            <joint name="left_hip_pitch" axis="0 1 0" range="-1.57 1.57"/>
+            <geom class="visual" mesh="left_hip_pitch_link"/>
+            <geom class="collision" mesh="left_hip_pitch_link"/>
+            <body name="left_knee_link" pos="0 0 -0.4">
+              <inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
+                diaginertia="0.0125237 0.0123104 0.0019428"/>
+              <joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/>
+              <geom class="visual" mesh="left_knee_link"/>
+              <geom class="collision" mesh="left_knee_link"/>
+              <body name="left_ankle_link" pos="0 0 -0.4">
+                <inertial pos="0.06722 0.00015 -0.04497" quat="0.489101 0.503197 0.565782 0.432972" mass="0.446"
+                  diaginertia="0.00220848 0.00218961 0.000214202"/>
+                <joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/>
+                <geom class="visual" mesh="left_ankle_link"/>
+                <geom class="collision" mesh="left_ankle_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
+        <inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
+          diaginertia="0.00304494 0.00296885 0.00189201"/>
+        <joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
+        <geom class="visual" mesh="right_hip_yaw_link"/>
+        <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
+        <body name="right_hip_roll_link" pos="0.039468 0 0">
+          <inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
+            diaginertia="0.00243264 0.00225325 0.00205492"/>
+          <joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
+          <geom class="visual" mesh="right_hip_roll_link"/>
+          <geom class="collision" mesh="right_hip_roll_link"/>
+          <body name="right_hip_pitch_link" pos="0 -0.11536 0">
+            <inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
+              diaginertia="0.0829503 0.0821457 0.00510909"/>
+            <joint name="right_hip_pitch" axis="0 1 0" range="-1.57 1.57"/>
+            <geom class="visual" mesh="right_hip_pitch_link"/>
+            <geom class="collision" mesh="right_hip_pitch_link"/>
+            <body name="right_knee_link" pos="0 0 -0.4">
+              <inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
+                diaginertia="0.0125237 0.0123104 0.0019428"/>
+              <joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/>
+              <geom class="visual" mesh="right_knee_link"/>
+              <geom class="collision" mesh="right_knee_link"/>
+              <body name="right_ankle_link" pos="0 0 -0.4">
+                <inertial pos="0.06722 -0.00015 -0.04497" quat="0.432972 0.565782 0.503197 0.489101" mass="0.446"
+                  diaginertia="0.00220848 0.00218961 0.000214202"/>
+                <joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/>
+                <geom class="visual" mesh="right_ankle_link"/>
+                <geom class="collision" mesh="right_ankle_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="torso_link">
+        <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
+          diaginertia="0.487315 0.409628 0.127837"/>
+        <joint name="torso" axis="0 0 1" range="-2.35 2.35"/>
+        <geom class="visual" mesh="torso_link"/>
+        <geom class="collision" mesh="torso_link"/>
+        <geom class="visual" material="white" mesh="logo_link"/>
+        <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+        <body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
+          <inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
+            diaginertia="0.00129936 0.000987113 0.000858198"/>
+          <joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
+          <geom class="visual" mesh="left_shoulder_pitch_link"/>
+          <geom class="collision" mesh="left_shoulder_pitch_link"/>
+          <body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
+            <inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
+              diaginertia="0.00170388 0.00158256 0.00100336"/>
+            <joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/>
+            <geom class="visual" mesh="left_shoulder_roll_link"/>
+            <geom class="collision" mesh="left_shoulder_roll_link"/>
+            <body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
+              <inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
+                diaginertia="0.00408038 0.00370367 0.000622687"/>
+              <joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/>
+              <geom class="visual" mesh="left_shoulder_yaw_link"/>
+              <geom class="collision" mesh="left_shoulder_yaw_link"/>
+              <body name="left_elbow_link" pos="0.0185 0 -0.198">
+                <inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
+                  diaginertia="0.00601829 0.00600579 0.000408305"/>
+                <joint name="left_elbow" axis="0 1 0" range="-1.25 2.61"/>
+                <geom class="visual" mesh="left_elbow_link"/>
+                <geom class="collision" mesh="left_elbow_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
+          <inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
+            diaginertia="0.00129936 0.000987113 0.000858198"/>
+          <joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
+          <geom class="visual" mesh="right_shoulder_pitch_link"/>
+          <geom class="collision" mesh="right_shoulder_pitch_link"/>
+          <body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
+            <inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
+              diaginertia="0.00170388 0.00158256 0.00100336"/>
+            <joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/>
+            <geom class="visual" mesh="right_shoulder_roll_link"/>
+            <geom class="collision" mesh="right_shoulder_roll_link"/>
+            <body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
+              <inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
+                diaginertia="0.00408038 0.00370367 0.000622687"/>
+              <joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/>
+              <geom class="visual" mesh="right_shoulder_yaw_link"/>
+              <geom class="collision" mesh="right_shoulder_yaw_link"/>
+              <body name="right_elbow_link" pos="0.0185 0 -0.198">
+                <inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
+                  diaginertia="0.00601829 0.00600579 0.000408305"/>
+                <joint name="right_elbow" axis="0 1 0" range="-1.25 2.61"/>
+                <geom class="visual" mesh="right_elbow_link"/>
+                <geom class="collision" mesh="right_elbow_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor class="h1" name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-0.43 0.43" forcerange="-200 200"/>
+    <motor class="h1" name="left_hip_roll" joint="left_hip_roll" ctrlrange="-0.43 0.43" forcerange="-200 200"/>
+    <motor class="h1" name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-1.57 1.57" forcerange="-200 200"/>
+    <motor class="h1" name="left_knee" joint="left_knee" ctrlrange="-0.26 2.05" forcerange="-300 300"/>
+    <motor class="h1" name="left_ankle" joint="left_ankle" ctrlrange="-0.87 0.52" forcerange="-40 40"/>
+    <motor class="h1" name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-0.43 0.43" forcerange="-200 200"/>
+    <motor class="h1" name="right_hip_roll" joint="right_hip_roll" ctrlrange="-0.43 0.43" forcerange="-200 200"/>
+    <motor class="h1" name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-1.57 1.57" forcerange="-200 200"/>
+    <motor class="h1" name="right_knee" joint="right_knee" ctrlrange="-0.26 2.05" forcerange="-300 300"/>
+    <motor class="h1" name="right_ankle" joint="right_ankle" ctrlrange="-0.87 0.52" forcerange="-40 40"/>
+    <motor class="h1" name="torso" joint="torso" ctrlrange="-2.35 2.35" forcerange="-200 200"/>
+    <motor class="h1" name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-2.87 2.87"
+      forcerange="-40 40"/>
+    <motor class="h1" name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-0.34 3.11" forcerange="-40 40"/>
+    <motor class="h1" name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-1.3 4.45" forcerange="-18 18"/>
+    <motor class="h1" name="left_elbow" joint="left_elbow" ctrlrange="-1.25 2.61" forcerange="-18 18"/>
+    <motor class="h1" name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-2.87 2.87"
+      forcerange="-40 40"/>
+    <motor class="h1" name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-3.11 0.34"
+      forcerange="-40 40"/>
+    <motor class="h1" name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-4.45 1.3" forcerange="-18 18"/>
+    <motor class="h1" name="right_elbow" joint="right_elbow" ctrlrange="-1.25 2.61" forcerange="-18 18"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home"
+      qpos="
+    0 0 0.98
+    1 0 0 0
+    0 0 -0.4 0.8 -0.4
+    0 0 -0.4 0.8 -0.4
+    0
+    0 0 0 0
+    0 0 0 0"/>
+  </keyframe>
+</mujoco>
diff --git a/unitree_h1/scene.xml b/unitree_h1/scene.xml
@@ -0,0 +1,23 @@
+<mujoco model="h1 scene">
+  <include file="h1.xml"/>
+
+  <statistic center="0 0 1" extent="1.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="160" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>