├── B2 └── usd │ └── B2.usd ├── Go2 └── usd │ └── Go2.usd ├── H1 └── usd │ ├── H1_with_hand │ └── H1_with_hand.usd │ └── H1_without_hand │ └── H1_without_hand.usd ├── LICENSE └── README.md /B2/usd/B2.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unitreerobotics/unitree_model/c701c44954b3463626ee64703251c57405ad50e6/B2/usd/B2.usd -------------------------------------------------------------------------------- /Go2/usd/Go2.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unitreerobotics/unitree_model/c701c44954b3463626ee64703251c57405ad50e6/Go2/usd/Go2.usd -------------------------------------------------------------------------------- /H1/usd/H1_with_hand/H1_with_hand.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unitreerobotics/unitree_model/c701c44954b3463626ee64703251c57405ad50e6/H1/usd/H1_with_hand/H1_with_hand.usd -------------------------------------------------------------------------------- /H1/usd/H1_without_hand/H1_without_hand.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unitreerobotics/unitree_model/c701c44954b3463626ee64703251c57405ad50e6/H1/usd/H1_without_hand/H1_without_hand.usd -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | * Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | * Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | * Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # unitree_model 2 | This is a repository providing Unitree's robot 3D models for different environments. 3 | 4 | # Add usd files 5 | Adding usd files of H1, B2 and Go2. The motion of fingers in 'H1_with_hand.usd' should refer to its 'urdf'(link : 6 | https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1_with_hand.urdf ). 7 | --------------------------------------------------------------------------------