Feat: add new Kuavo Humanoid robot model to env, and make Kuavo replay retargeted mocap data.

[wangshub]

Hi @robfiras ，

According to your reply, I have successfully imported the Kuavo robot, which is a video screenshot of playing back mocap data.

https://github.com/robfiras/loco-mujoco/issues/8#issuecomment-1872516323

https://github.com/robfiras/loco-mujoco/assets/20924010/8e4b051c-0d07-47ab-925c-1f99e6f35616

[robfiras]

Many thanks for your contribution! I will start reviewing the PR soon.

[robfiras]

Hi @wangshub, I checkedout your PR. Here are the preliminary TODOs for us:

Work on the XML (by @wangshub )

• [ ] can we get all the meshes? Right now, many are missing.
• [x] can we get maximum torque values for the motors? Right now all are set to 100, which is not realistic.
• [x] what is the license of the model? Are you working in that company?

Work on the API (by @robfiras )

• [ ] decide on what tasks are suitable for the kuavo
• [ ] clean up the main class
• [ ] adapt data generation

[wangshub]

@robfiras Yes, I work at Leju Robotics. We will complete the TODOs as soon as possible !

[1190201119]

@robfiras Yes, I work at Leju Robotics. We will complete the TODOs as soon as possible !

事实上执行器的力矩根本就没有设置，设置到减速比上去了。考虑到我们实际上使用的是一体化关节，或者说我们并不关心电机传动前的输出，gear根本就不用设置。

[wangshub]

Hi ! @robfiras

• [x] All torque values for the motors are fixed by realistic parameters.
• [x] License declaration is included in kuavo.xml
• [x] the necessary meshes are included in the model, we have removed the lower body shell meshes of the robot for now to improve flexibility. I will submit a new PR if there are any further updates.

[robfiras]

Hi @wangshub,

thanks for the changes! And sorry for the delay ...

I would ask you to add the shell meshes of the lower body and the arms as well. Right now, it does not look nice. We do not want to add preliminary models to this repo.

In the meantime, I will update the datasets and see if we can train a gait using your models. Thanks!