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robot_assets/MicroDuckLocomotion.zip
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version https://git-lfs.github.com/spec/v1
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oid sha256:1a2aef72c9a95dd80717e6aec606c516e3bb5073285c2a0ffbd32549fdaceaad
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size 7759824
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robot_assets/UnitreeG1Locomotion.zip
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version https://git-lfs.github.com/spec/v1
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oid sha256:af5715e413247f56fee14e131fc2cd63e5e565bb033c8d40af4b56d95c48b5bc
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size 6965281
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robot_assets/locomotion-README.md
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# EmbodiChain locomotion robot assets
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Prepared 2026-09-16. These archives contain robot descriptions and their complete local geometry/material dependencies.
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| Archive | Entry point | Upstream license notices |
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|---|---|---|
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| UnitreeG1Locomotion.zip | g1.usda | Bundled Unitree license; reference motion data is excluded |
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| UnitreeH1_2Locomotion.zip | h1_2.usda | Bundled Unitree license |
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| UnitreeGo1Locomotion.zip | go1.usda | Bundled MJLab and MuJoCo Menagerie licenses |
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| UnitreeGo2Locomotion.zip | go2.usda | Bundled Unitree license |
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| ANYmalCLocomotion.zip | usd/anymal_c.usda | ANYbotics BSD license |
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| HumanoidRun.zip | humanoid.physics_only.urdf | Gymnasium MIT license; humanoid.urdf includes visuals |
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| MicroDuckLocomotion.zip | microduck.urdf | Code Apache-2.0; 3D models Creative Commons BY-SA-NC as designated upstream |
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UnitreeH1_2Locomotion contains the 27-joint H1-2 model. It is distinct from the existing UnitreeH1.zip (19-joint H1, plus a 21-joint wrist variant) and H1_usd.zip (19-joint H1); those archives remain separate assets.
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Each archive includes ORIGIN.md and upstream license notices. The contents of each archive follow the accompanying upstream licenses. In particular, MicroDuck 3D models carry noncommercial/share-alike restrictions and the upstream statement does not specify a license version.
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Robot USD files preserve their native schema declarations and physical parameters. ANYmal's material export uses standard USD shading with its original colors and texture references. Humanoid contains very small positive inertias for auxiliary joint links; loaders must preserve them as nonzero.
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Sources: [Unitree RL](https://github.com/unitreerobotics/unitree_rl_mjlab), [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie), [ANYmal C](https://github.com/ANYbotics/anymal_c_simple_description), [Gymnasium](https://github.com/Farama-Foundation/Gymnasium), [MicroDuck RL](https://github.com/pollen-robotics/microduck_rl).
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