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上传了Unitree h1模型文件 #3290

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78ed1b6
模仿学习基准专注于使用 MuJoCo 执行复杂的运动任务
blank885 Sep 22, 2025
5d90afd
完成合并并解决冲突
blank885 Sep 23, 2025
3fdb5a9
update
blank885 Oct 20, 2025
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update
blank885 Nov 24, 2025
39b6d3e
修改main.py：添加了ppo算法初试机器人行走
blank885 Dec 10, 2025
62cb187
解决main.py合并冲突
blank885 Dec 10, 2025
6bfa5b9
update
blank885 Dec 11, 2025
be42974
Merge branch 'OpenHUTB:main' into main
blank885 Dec 11, 2025
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Merge branch 'OpenHUTB:main' into main
blank885 Dec 12, 2025
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Unitree h1模型文件
blank885 Dec 16, 2025
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Merge branch 'OpenHUTB:main' into main
blank885 Dec 16, 2025
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263 changes: 263 additions & 0 deletions src/LocoMuJoCo/h1.xml
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<!-- 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.


Modified by Firas Al-Hafez 2024.
-->

<mujoco model="h1">
<compiler angle="radian" meshdir="assets" autolimits="true"/>

<include file="../common/scene.xml"/>
<include file="../common/mimic_sites.xml"/>

<default>
<default class="h1">
<geom type="mesh"/>
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom contype="0" conaffinity="0" group="0" material="black"/>
</default>
<default class="collision">
<geom group="1" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
<motor ctrllimited="true"/>
</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>
<body name="pelvis" pos="0 0 1.045" childclass="h1">
<site name="pelvis_mimic" class="mimic"/>
<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"/>
<light name="spotlight" mode="trackcom" pos="0 -2 50" dir="0 0 -1"/>
<freejoint name="root"/>
<geom class="visual" mesh="pelvis"/>
<geom class="collision" mesh="pelvis"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
<site name="left_hip_mimic" class="mimic" pos="0.05 0.0 0.0"/>
<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="hip_rotation_l" 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="hip_adduction_l" 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="hip_flexion_l" 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">
<site name="left_knee_mimic" class="mimic"/>
<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="knee_angle_l" 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">
<site name="left_foot_mimic" class="mimic" pos="0.075 0.0 -0.05"/>
<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="ankle_angle_l" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="left_ankle_link"/>
<geom name="left_foot" class="collision" mesh="left_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
<site name="right_hip_mimic" class="mimic" pos="0.05 0.0 0.0"/>
<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="hip_rotation_r" 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="hip_adduction_r" 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="hip_flexion_r" 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">
<site name="right_knee_mimic" class="mimic"/>
<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="knee_angle_r" 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">
<site name="right_foot_mimic" class="mimic" pos="0.075 0.0 -0.05"/>
<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="ankle_angle_r" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="right_ankle_link"/>
<geom name="right_foot" class="collision" mesh="right_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<site name="upper_body_mimic" class="mimic" pos="0.05 0.0 0.3"/>
<site name="head_mimic" class="mimic" pos="0.0 0.0 0.6"/>
<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="back_bkz" 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="l_arm_shy" 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">
<site name="left_shoulder_mimic" class="mimic"/>
<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="l_arm_shx" 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="l_arm_shz" 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">
<site name="left_elbow_mimic" class="mimic"/>
<site name="left_hand_mimic" class="mimic" pos="0.3 0.0 0.0"/>
<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="r_arm_shy" 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">
<site name="right_shoulder_mimic" class="mimic"/>
<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="r_arm_shx" 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="r_arm_shz" 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">
<site name="right_elbow_mimic" class="mimic"/>
<site name="right_hand_mimic" class="mimic" pos="0.3 0.0 0.0"/>
<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="hip_rotation_l_actuator" joint="hip_rotation_l" ctrlrange="-200 200"/>
<motor class="h1" name="hip_adduction_l_actuator" joint="hip_adduction_l" ctrlrange="-200 200"/>
<motor class="h1" name="hip_flexion_l_actuator" joint="hip_flexion_l" ctrlrange="-200 200"/>
<motor class="h1" name="knee_angle_l_actuator" joint="knee_angle_l" ctrlrange="-300 300"/>
<motor class="h1" name="ankle_angle_l_actuator" joint="ankle_angle_l" ctrlrange="-40 40"/>
<motor class="h1" name="hip_rotation_r_actuator" joint="hip_rotation_r" ctrlrange="-200 200"/>
<motor class="h1" name="hip_adduction_r_actuator" joint="hip_adduction_r" ctrlrange="-200 200"/>
<motor class="h1" name="hip_flexion_r_actuator" joint="hip_flexion_r" ctrlrange="-200 200"/>
<motor class="h1" name="knee_angle_r_actuator" joint="knee_angle_r" ctrlrange="-300 300"/>
<motor class="h1" name="ankle_angle_r_actuator" joint="ankle_angle_r" ctrlrange="-40 40"/>
<motor class="h1" name="back_bkz_actuator" joint="back_bkz" ctrlrange="-200 200"/>
<motor class="h1" name="l_arm_shy_actuator" joint="l_arm_shy" ctrlrange="-40 40"/>
<motor class="h1" name="l_arm_shx_actuator" joint="l_arm_shx" ctrlrange="-40 40"/>
<motor class="h1" name="l_arm_shz_actuator" joint="l_arm_shz" ctrlrange="-18 18"/>
<motor class="h1" name="left_elbow_actuator" joint="left_elbow" ctrlrange="-18 18"/>
<motor class="h1" name="r_arm_shy_actuator" joint="r_arm_shy" ctrlrange="-40 40"/>
<motor class="h1" name="r_arm_shx_actuator" joint="r_arm_shx" ctrlrange="-40 40"/>
<motor class="h1" name="r_arm_shz_actuator" joint="r_arm_shz" ctrlrange="-18 18"/>
<motor class="h1" name="right_elbow_actuator" joint="right_elbow" ctrlrange="-18 18"/>
</actuator>

</mujoco>
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