Copybara import of the project:

--
17b2330 by Kevin Zakka <[email protected]>:

Add Berkeley humanoid.

COPYBARA_INTEGRATE_REVIEW=#126 from kevinzakka:berkeley-humanoid 17b2330
PiperOrigin-RevId: 703578032
Change-Id: I1626a76185ca4831d8eec123af4a1cdf659f8589

Author: kevinzakka

LICENSE

@@ -126,6 +126,39 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'berkeley_humanoid/'
+================================================================================
+
+Copyright (c) 2024 Hybrid 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 'bitcraze_crazyflie_2/'
 ================================================================================

README.md

@@ -227,6 +227,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| Berkeley Humanoid | Hybrid Robotics | 12 | [BSD-3-Clause](berkeley_humanoid/LICENSE) |✖️|
 | Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️|
 | Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️|
 | Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|

berkeley_humanoid/LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2024 Hybrid 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.

berkeley_humanoid/README.md

@@ -0,0 +1,40 @@
+# Berkeley Humanoid Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Berkeley
+Humanoid](https://berkeley-humanoid.com/) developed by the [Hybrid Robotics
+Lab](https://hybrid-robotics.berkeley.edu/) at UC Berkeley. It is derived from the [publicly available URDF description](https://github.com/HybridRobotics/berkeley_humanoid_description).
+
+<p float="left">
+  <img src="berkeley_humanoid.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Manually edited the MJCF to extract common properties into the `<default>` section.
+2. Added a spotlight and tracking light.
+3. Added a site for the IMU.
+4. Added a camera for tracking.
+5. Extracted joint and actuator properties from the [IsaacLab training code](https://github.com/HybridRobotics/isaac_berkeley_humanoid).
+6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Publications
+
+The Berkeley Humanoid is described in the following publication:
+
+```bibtex
+@misc{2407.21781,
+    Author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
+    Title = {Berkeley Humanoid: A Research Platform for Learning-based Control},
+    Year = {2024},
+    Eprint = {arXiv:2407.21781},
+}
+```