h1_mujoco

MuJoCo simulation for the H1_2 robot.

Installation

• Clone the Unitree Python SDK from this repo.

• Install python dependencies from environment.yml using conda:

  conda env create -f environment.yml
  conda activate sim_env
  cd PATH_TO_UNITREE_SDK
  pip install -e .

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.