Merge pull request #175 from TonyZYT2000/main

Add Unitree H1_2 description

Author: stephane-caron

CHANGELOG.md

@@ -12,6 +12,8 @@ All notable changes to this project will be documented in this file.
 - Description: RBY1 Mobile Manipulatior (URDF) (thanks to @uynitsuj)
 - Description: YAM (MJCF) (thanks to @uynitsuj)
 - Description: YAM (URDF) (thanks to @uynitsuj)
+- Description: Unitree H1_2 (URDF) (thanks to @TonyZYT2000)
+- Description: Unitree H1_2 (MJCF) (thanks to @TonyZYT2000)
 
 ## [1.19.0] - 2025-07-03
 

README.md

@@ -245,6 +245,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `gr1_description`               | GR-1                  | Fourier                  | URDF       | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/351245ac8fa4bf6f4b0c41556e1e6976a438bcef/LICENSE) |
 | `h1_description`                | H1                    | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `h1_mj_description`             | H1                    | UNITREE Robotics         | MJCF       | BSD-3-Clause |
+| `h1_2_description`              | H1_2                  | UNITREE Robotics         | URDF       | BSD-3-Clause |
+| `h1_2_mj_description`           | H1_2                  | UNITREE Robotics         | MJCF       | BSD-3-Clause |
 | `icub_description`              | iCub                  | IIT                      | URDF       | CC-BY-SA-4.0 ✖️  |
 | `jaxon_description`             | JAXON                 | JSK                      | URDF       | CC-BY-SA-4.0 ✖️  |
 | `jvrc_description`              | JVRC-1                | AIST                     | URDF       | BSD-2-Clause |

robot_descriptions/_descriptions.py

@@ -131,6 +131,8 @@ def has_urdf(self) -> bool:
     "gr1_description": Description(Format.URDF, tags={"humanoid"}),
     "h1_description": Description(Format.URDF, tags={"humanoid"}),
     "h1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
+    "h1_2_description": Description(Format.URDF, tags={"humanoid"}),
+    "h1_2_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "hyq_description": Description(Format.URDF, tags={"quadruped"}),
     "icub_description": Description(Format.URDF, tags={"humanoid"}),
     "iiwa7_description": Description(Format.URDF, tags={"arm"}),

robot_descriptions/_repositories.py

@@ -325,7 +325,7 @@ class Repository:
     ),
     "unitree_ros": Repository(
         url="https://github.com/unitreerobotics/unitree_ros.git",
-        commit="8bca7f8907bf6feceac80809ae67e4b379ab9cfc",
+        commit="267182b8521c8d6a631bab1fe63836873237a525",
         cache_path="unitree_ros",
     ),
     "upkie_description": Repository(

robot_descriptions/g1_description.py

@@ -15,4 +15,4 @@
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "g1_description")
 
-URDF_PATH: str = _path.join(PACKAGE_PATH, "g1.urdf")
+URDF_PATH: str = _path.join(PACKAGE_PATH, "g1_29dof.urdf")

robot_descriptions/h1_2_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""H1_2 description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "h1_2_description")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "h1_2.urdf")

robot_descriptions/h1_2_mj_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Unitree H1_2 MJCF description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "h1_2_description")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "h1_2.xml")

robot_descriptions/h1_description.py

@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 
-"""Go2 description."""
+"""H1 description."""
 
 from os import getenv as _getenv
 from os import path as _path