diff --git a/LICENSE b/LICENSE index 4a344c92..cde22d57 100644 --- 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 index f75db080..904de048 100644 --- a/README.md +++ b/README.md @@ -169,6 +169,8 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md). | Mobile Manipulators| | | | [Google Robot](google_robot/README.md)|[](google_robot/README.md)|B| | [Stretch 2](hello_robot_stretch/README.md)|[](hello_robot_stretch/README.md)|C| +| Humanoids | | | +| [Unitree H1](unitree_h1/README.md)|[](unitree_h1/README.md)|B| | Drones | | | | [Skydio X2](skydio_x2/README.md)|[](skydio_x2/README.md)|A| | Other | | | diff --git a/unitree_h1/LICENSE b/unitree_h1/LICENSE new file mode 100644 index 00000000..62637c8d --- /dev/null +++ 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 new file mode 100644 index 00000000..04d69ec0 --- /dev/null +++ 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). + +

+ +

+ +## URDF → MJCF derivation steps + +1. Added ` ` to the URDF's + `` 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 `` 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 new file mode 100644 index 00000000..2fb68691 Binary files /dev/null and b/unitree_h1/assets/left_ankle_link.stl differ diff --git a/unitree_h1/assets/left_elbow_link.stl b/unitree_h1/assets/left_elbow_link.stl new file mode 100644 index 00000000..5f798ca0 Binary files /dev/null and b/unitree_h1/assets/left_elbow_link.stl differ diff --git a/unitree_h1/assets/left_hip_pitch_link.stl b/unitree_h1/assets/left_hip_pitch_link.stl new file mode 100644 index 00000000..e5898ab4 Binary files /dev/null and b/unitree_h1/assets/left_hip_pitch_link.stl differ diff --git a/unitree_h1/assets/left_hip_roll_link.stl b/unitree_h1/assets/left_hip_roll_link.stl new file mode 100644 index 00000000..5ade02bc Binary files /dev/null and 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a/unitree_h1/assets/left_shoulder_yaw_link.stl b/unitree_h1/assets/left_shoulder_yaw_link.stl new file mode 100644 index 00000000..01d3c75b Binary files /dev/null and b/unitree_h1/assets/left_shoulder_yaw_link.stl differ diff --git a/unitree_h1/assets/logo_link.stl b/unitree_h1/assets/logo_link.stl new file mode 100644 index 00000000..c396d51d Binary files /dev/null and b/unitree_h1/assets/logo_link.stl differ diff --git a/unitree_h1/assets/pelvis.stl b/unitree_h1/assets/pelvis.stl new file mode 100644 index 00000000..05e5512c Binary files /dev/null and b/unitree_h1/assets/pelvis.stl differ diff --git a/unitree_h1/assets/right_ankle_link.stl b/unitree_h1/assets/right_ankle_link.stl new file mode 100644 index 00000000..5c85b2b0 Binary files /dev/null and b/unitree_h1/assets/right_ankle_link.stl differ diff --git a/unitree_h1/assets/right_elbow_link.stl b/unitree_h1/assets/right_elbow_link.stl new file mode 100644 index 00000000..f4c03e3a Binary files /dev/null and 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b/unitree_h1/assets/right_shoulder_pitch_link.stl new file mode 100644 index 00000000..f77ab2b8 Binary files /dev/null and b/unitree_h1/assets/right_shoulder_pitch_link.stl differ diff --git a/unitree_h1/assets/right_shoulder_roll_link.stl b/unitree_h1/assets/right_shoulder_roll_link.stl new file mode 100644 index 00000000..a98398f9 Binary files /dev/null and b/unitree_h1/assets/right_shoulder_roll_link.stl differ diff --git a/unitree_h1/assets/right_shoulder_yaw_link.stl b/unitree_h1/assets/right_shoulder_yaw_link.stl new file mode 100644 index 00000000..7943bab3 Binary files /dev/null and b/unitree_h1/assets/right_shoulder_yaw_link.stl differ diff --git a/unitree_h1/assets/torso_link.stl b/unitree_h1/assets/torso_link.stl new file mode 100644 index 00000000..335b2f19 Binary files /dev/null and b/unitree_h1/assets/torso_link.stl differ diff --git a/unitree_h1/h1.png b/unitree_h1/h1.png new file mode 100644 index 00000000..b3eed8dd Binary files /dev/null and b/unitree_h1/h1.png differ diff --git a/unitree_h1/h1.xml b/unitree_h1/h1.xml new file mode 100644 index 00000000..e015d071 --- /dev/null +++ b/unitree_h1/h1.xml @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/unitree_h1/scene.xml b/unitree_h1/scene.xml new file mode 100644 index 00000000..4f79716e --- /dev/null +++ b/unitree_h1/scene.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + +