[uniquemelody]

Summary

• add OneRobotics A1 right-arm, left-arm, and bimanual-stand URDF assets to pybullet_data
• add a small PyBullet example that loads and moves all three variants
• include source attribution, the CC BY 4.0 license, and known model limitations

Source and licensing

• Source: https://github.com/katazen/onerobot_h1
• Source commit: ecf530911284ba0e559f7a24dc222fd8e60d31ed
• Asset license: Creative Commons Attribution 4.0 International (CC BY 4.0)
• Attribution: OneRobotics

The unused top-level MuJoCo compiler element was removed from the published
URDF files, and the meshes were packaged with relative paths. All remaining
URDF model fields and all STL mesh bytes match the source revision. The asset
family adds approximately 29 MB to pybullet_data.

Validation

• verified every URDF mesh reference is relative and resolves inside its asset directory
• loaded all variants in PyBullet DIRECT mode with source inertia enabled
• verified 7 movable joints for each arm and 14 for the bimanual model
• commanded conservative in-limit targets for 480 simulation steps and checked for finite motion
• compared all contributed URDF and STL bytes with the standalone adapted assets

Example:

PYTHONPATH=examples/pybullet/gym python examples/pybullet/examples/onerobotics_a1.py --model right

[T1Amoo]

Hi @erwincoumans, I am following up for the team behind this PR, originally opened by @uniquemelody. I can help address the review feedback.

Could you advise whether adding the OneRobotics A1 arm assets to pybullet_data is within scope, or whether you would prefer that we keep them in an external asset repository?

For clarity:

• These are fixed-base robot arms: a 7-DoF right arm, a 7-DoF left arm, and a 14-DoF bimanual model with a stand. The source repository is named onerobot_h1, but the proposed assets are the OneRobotics A1 models.
• The current PR adds approximately 29 MB across the three variants. The source is pinned to ecf530911284ba0e559f7a24dc222fd8e60d31ed; the asset README includes attribution and the full CC BY 4.0 license is included.
• The PR records DIRECT-mode loading, joint-count checks, and conservative motion checks for all three variants.
• The documented source limitations remain: no grippers, provisional single-arm Link7 mass/inertia, and zero effort/velocity entries in the bimanual source, with conservative forces supplied by the example.

Would a right-arm-only first contribution be easier to review, with the other variants deferred? If a different packaging or contribution route is preferred, please point us to it. The standalone integration is available at https://github.com/uniquemelody/onerobot_h1_pybullet.

Thanks for your guidance.