Merge pull request #36 from lvjonok:feat/unitree_z1

PiperOrigin-RevId: 592628175 Change-Id: I2863fe90c6b95ab9e6eb47baa4d11fbae7bf5a76
google-deepmind · Dec 20, 2023 · cebc3b1 · cebc3b1
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diff --git a/LICENSE b/LICENSE
@@ -2276,6 +2276,41 @@ 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_z1/'
+================================================================================
+
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 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/unitree_z1/LICENSE b/unitree_z1/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 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_z1/README.md b/unitree_z1/README.md
@@ -0,0 +1,20 @@
+# Unitree Z1 description (MJCF)
+
+## Overview
+
+This package contains robot description (MJCF) of the [Z1 manipulator](https://www.unitree.com/z1/). It is derivede from the [publicly available URDF description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/z1_description/xacro/z1.urdf)
+
+<p float="left">
+  <img src="z1.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Added `<mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>` to the URDF's `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to use meshes for collision too.
+4. Added `scene.xml` which includes the robot, with a textured groundplane, skybox and haze.e.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/unitree_z1/assets/z1_GripperMover.stl b/unitree_z1/assets/z1_GripperMover.stl
diff --git a/unitree_z1/assets/z1_GripperStator.stl b/unitree_z1/assets/z1_GripperStator.stl
diff --git a/unitree_z1/assets/z1_Link00.stl b/unitree_z1/assets/z1_Link00.stl
diff --git a/unitree_z1/assets/z1_Link01.stl b/unitree_z1/assets/z1_Link01.stl
diff --git a/unitree_z1/assets/z1_Link02.stl b/unitree_z1/assets/z1_Link02.stl
diff --git a/unitree_z1/assets/z1_Link03.stl b/unitree_z1/assets/z1_Link03.stl
diff --git a/unitree_z1/assets/z1_Link04.stl b/unitree_z1/assets/z1_Link04.stl
diff --git a/unitree_z1/assets/z1_Link05.stl b/unitree_z1/assets/z1_Link05.stl
diff --git a/unitree_z1/assets/z1_Link06.stl b/unitree_z1/assets/z1_Link06.stl
diff --git a/unitree_z1/scene.xml b/unitree_z1/scene.xml
@@ -0,0 +1,23 @@
+<mujoco model="z1 scene">
+    <include file="z1.xml"/>
+
+    <statistic center="0 0 0.1" extent="0.8"/>
+
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+        <rgba haze="0.15 0.25 0.35 1"/>
+        <global azimuth="120" elevation="-20"/>
+    </visual>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+        <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+            markrgb="0.8 0.8 0.8" width="300" height="300"/>
+        <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+        <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+    </worldbody>
+</mujoco>
diff --git a/unitree_z1/z1.png b/unitree_z1/z1.png
diff --git a/unitree_z1/z1.xml b/unitree_z1/z1.xml
@@ -0,0 +1,74 @@
+<mujoco model="z1">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <default>
+    <default class="z1">
+      <default class="visual">
+        <geom type="mesh"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <mesh name="z1_Link00" file="z1_Link00.stl"/>
+    <mesh name="z1_Link01" file="z1_Link01.stl"/>
+    <mesh name="z1_Link02" file="z1_Link02.stl"/>
+    <mesh name="z1_Link03" file="z1_Link03.stl"/>
+    <mesh name="z1_Link04" file="z1_Link04.stl"/>
+    <mesh name="z1_Link05" file="z1_Link05.stl"/>
+    <mesh name="z1_Link06" file="z1_Link06.stl"/>
+  </asset>
+
+  <worldbody>
+    <body name="link00">
+      <inertial pos="-0.00334984 -0.00013615 0.0249584" quat="-0.00692194 0.682592 0.00133293 0.730766" mass="0.472475"
+        diaginertia="0.000531375 0.000415207 0.000378658"/>
+      <geom class="visual" mesh="z1_Link00"/>
+      <body name="link01" pos="0 0 0.0585">
+        <inertial pos="2.47e-06 -0.00025198 0.0231717" quat="0.708578 0.705633 0.000281462 -0.000355927" mass="0.673326"
+          diaginertia="0.00128328 0.000839362 0.000719308"/>
+        <joint name="joint1" pos="0 0 0" axis="0 0 1" range="-2.61799 2.61799" damping="1" frictionloss="1"/>
+        <geom class="visual" mesh="z1_Link01"/>
+        <body name="link02" pos="0 0 0.045">
+          <inertial pos="-0.110126 0.00240029 0.00158266" quat="0.00748058 0.707092 -0.0114473 0.70699" mass="1.19132"
+            diaginertia="0.0246612 0.0243113 0.00100468"/>
+          <joint name="joint2" pos="0 0 0" axis="0 1 0" range="0 2.96706" damping="2" frictionloss="2"/>
+          <geom class="visual" mesh="z1_Link02"/>
+          <body name="link03" pos="-0.35 0 0">
+            <inertial pos="0.106092 -0.00541815 0.0347638" quat="0.540557 0.443575 0.426319 0.573839" mass="0.839409"
+              diaginertia="0.00954365 0.00938711 0.000558432"/>
+            <joint name="joint3" pos="0 0 0" axis="0 1 0" range="-2.87979 0" damping="1" frictionloss="1"/>
+            <geom class="visual" mesh="z1_Link03"/>
+            <body name="link04" pos="0.218 0 0.057">
+              <inertial pos="0.0436668 0.00364738 -0.00170192" quat="0.0390835 0.726445 -0.0526787 0.684087"
+                mass="0.564046" diaginertia="0.000981656 0.00094053 0.000302655"/>
+              <joint name="joint4" pos="0 0 0" axis="0 1 0" range="-1.51844 1.51844" damping="1" frictionloss="1"/>
+              <geom class="visual" mesh="z1_Link04"/>
+              <body name="link05" pos="0.07 0 0">
+                <inertial pos="0.0312153 0 0.00646316" quat="0.462205 0.535209 0.53785 0.45895" mass="0.389385"
+                  diaginertia="0.000558961 0.000547317 0.000167332"/>
+                <joint name="joint5" pos="0 0 0" axis="0 0 1" range="-1.3439 1.3439" damping="1" frictionloss="1"/>
+                <geom class="visual" mesh="z1_Link05"/>
+                <body name="link06" pos="0.0492 0 0">
+                  <inertial pos="0.0241569 -0.00017355 -0.00143876" quat="0.998779 0.0457735 -0.00663717 0.0173548"
+                    mass="0.288758" diaginertia="0.00018333 0.000147464 0.000146786"/>
+                  <joint name="joint6" pos="0 0 0" axis="1 0 0" range="-2.79253 2.79253" damping="1" frictionloss="1"/>
+                  <geom class="visual" mesh="z1_Link06"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <general name="motor1" joint="joint1"/>
+    <general name="motor2" joint="joint2"/>
+    <general name="motor3" joint="joint3"/>
+    <general name="motor4" joint="joint4"/>
+    <general name="motor5" joint="joint5"/>
+    <general name="motor6" joint="joint6"/>
+  </actuator>
+</mujoco>