Hightorque hi

[YHFone]

The HighTorque hi robot model was added and can be run in Brax. At the same time, H1 was also deployed in mujoco by imitating GO2's deploy, but the actual performance was very poor.

[HaoruXue]

🔥 Thanks for the PR! We will verify this.

For #6, we are aware of the issue with H1 and is internally working on a H1 deployment that can currently pass Sim2Sim. More details will be shared soon once we have the real deployment checked!

[HaoruXue]

Sorry for stalling this for 3 months - Will start the review in the coming weeks!

[HaoruXue]

@YHFone Thanks for the PR. the sync simulation looks okay.

A couple of things if you could do:

• Rebase onto latest main
• Remove unnecessary files, such as logs, npy files, unused models
• Remove debug prints
• See if you can make the model run faster. It runs at 8Hz for me on a 4090. You can try reducing the model collisions, use less parallel envs, decrease horizon, etc.

Thanks again for your contribution!