h1_mujoco

MuJoCo simulation for the H1 robot

Installation

Install Python dependencies from environment.yml:

conda env create -f environment.yml
# mamba env create -f environment.yml

unitree_robots/ contains the robot description files.
utility/ contains useful scripts.
h1_2_mujoco.py & h1_mujoco.py are the main simulations for the two robots.
mink_interface.py provides utilities for the Mink inverse kinematics solver.
mujoco_env.py & mujoco_interface.py provide utilities for MuJoCo simulation.
unitree_h1_2_interface.py & unitree_h1_interface.py contains wrappers for the Unitree SDK.

Run python h1_2_mujoco.py --mode sim to simulate the robot in Mujoco and subscribe to motor commands.
Run python h1_2_mujoco.py --mode shadow to subscribe to motor states and shadow the real robot in Mujoco.