h1_mujoco

MuJoCo simulation for the H1_2 robot.

Installation

• This repo depends on Unitree Python SDK to communicate with the robot.

• Download Unitree SDK under submodules/unitree_sdk2_python by initializing git submodules:

  git submodule update --init --recursive

uv Installation

• Easiest way to run scripts in this repo is to use uv

• Commands:

  uv sync # install dependencies for this repo including unitree sdk
  uv run PATH_TO_SCRIPT

pip Installation

• requirements.txt lists dependencies that can be installed by pip.

• Commands:

  pip install -r requirements.txt # install dependencies for this repo including unitree sdk

Files

• archive/ contains old implementations not in use.
• unitree_robots/ contains the robot description files.
• utility/ contains useful scripts.
• h12_mujoco.py is the main simulation program of h12 robot.
• mujoco_env.py provides utilities for MuJoCo simulation.
• pv_interface.py provides visualization in pyvista is needed.
• unitree_interface.py contains wrappers for the Unitree SDK.

Usage

• Run python h12_mujoco.py to simulate the robot in Mujoco, subscribe to rt/lowcmd and publish to rt/lowstate.
• The simulation is a good test before deploying controllers on the real robot in debug mode.

h12_mujoco.py arguments

• --handless: use handless model scenes (default).
• --inspire: use inspire-hand model scenes.
• --fixed: use pelvis-fixed scene variant (no elastic band).
• --force <link1> <link2> ...: enable external force interface on given links.

Scene selection behavior:

• default / --handless: scene_handless.xml
• --inspire: scene.xml
• --fixed + default / --handless: scene_handless_pelvis_fixed.xml
• --fixed + --inspire: scene_pelvis_fixed.xml