From 1e80f4ce82a16b6ede14728c4bbb78c753f77b1c Mon Sep 17 00:00:00 2001 From: akushonkamen Date: Sun, 18 Oct 2026 01:34:35 +0800 Subject: [PATCH] Unitree H1: sync body masses and inertials with upstream URDF update unitreerobotics/unitree_ros@34e7506 (2025-12-31, 'update h1 urdf (mass&inertial)') revised the masses, centers of mass and inertia tensors of the pelvis, both legs and both arms; unitree_h1/h1.xml still carried older values (51.44 kg total vs 59.34 kg in the URDF, most of the gap in the legs). This syncs the affected blocks from that commit. Joint limits, kinematics and collision geometry are unchanged, and the hip_pitch range stays as-is. Also adds the CONTRIBUTORS.md entry (casefold order, per test/model_dir_test.py::ContributorsTest::test_sorted) and a model CHANGELOG.md entry. Verified on this exact tree with MuJoCo 3.16.0: every body's mass, COM and body-frame inertia tensor reconstructed from h1.xml matches the URDF reference (20/20 bodies; model total 59.338 kg), 'uv run --quiet --with-requirements test/requirements.txt pytest test/ -q' = 375 passed, 1 skipped (exit 0), and 'make check' is green. Fixes #333. Signed-off-by: akushonkamen --- CONTRIBUTORS.md | 1 + unitree_h1/CHANGELOG.md | 6 +++++ unitree_h1/h1.xml | 60 ++++++++++++++++++++--------------------- 3 files changed, 37 insertions(+), 30 deletions(-) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index d0e82d82..cd6bd2d2 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -15,6 +15,7 @@ Built by the Google DeepMind team with contributions from the open-source commun ## Community Contributors +- [akushonkamen](https://github.com/akushonkamen) - [Albert Li](https://github.com/alberthli) - [Alper Ahmetoglu](https://github.com/alper111) - [Andreas Kuhner](https://github.com/AndreasKuhner) diff --git a/unitree_h1/CHANGELOG.md b/unitree_h1/CHANGELOG.md index cfe86175..d9990d8d 100644 --- a/unitree_h1/CHANGELOG.md +++ b/unitree_h1/CHANGELOG.md @@ -2,5 +2,11 @@ All notable changes to this model will be documented in this file. +## [2026-10-18] +- Sync body masses, centers of mass and inertia tensors with the current Unitree URDF + (updated in unitreerobotics/unitree_ros@34e7506, "update h1 urdf (mass&inertial)", + 2025-12-31). Total mass goes from 51.44 kg to 59.34 kg, mostly in the legs. Joint + limits and kinematics are unchanged. + ## [2023-11-06] - Initial release. diff --git a/unitree_h1/h1.xml b/unitree_h1/h1.xml index 3e9fbc98..05c80100 100644 --- a/unitree_h1/h1.xml +++ b/unitree_h1/h1.xml @@ -58,40 +58,40 @@ - + - + - + - + - + - + @@ -103,35 +103,35 @@ - + - + - + - + - + @@ -154,25 +154,25 @@ - - - - @@ -183,25 +183,25 @@ - - - -