EDIT: Think I posted this in the wrong forum, maybe a moderator can move it for me :p
I remember searching different forums, the web, well all kind of places actually for this. So I eventually got bored and managed to figure out how to do it myself. I don't know if anyone is playing Halo 1 anymore but this brief tutorial will explain how to do it.
Note: This is for xbox.
Start HHT v5
Open the map where the model you want is located, in this example we will use the Pillar of Autumn map.
Scroll down and find the [mode] group.
Click on the grunt model and choose extract (recursive)
Open the [antr] group and extract the grunt's animation trigger (this time NOT recursive!!!)
Open the [coll] trigger and extract the grunt's collision model (recursively)
Do the same for the [foot] group (for the walk-sound, also recursively).
Now open the map where you want the model injected, we will use ratrace.map in this example.
Open the [mode] group as before and select the cyborg model (don't know if you really have to select the cyborg model as it will not be replaced anyway).
Inject the [mode] meta (recursively) that you extracted earlier.
Same thing with the animation trigger [antr], this time you'll actually have to select the cyborg's antr as it will be replaced.
Now when you have injected the animation trigger, you will notice in the dependency swapper that all snd! references are "unknown reference". Select all "unknown reference" (shift click) and swap them to "Nulled out".
Last thing to inject is the [foot] group. Do this recursively.
One special thing about grunts (and other Covenant bipeds) is that they can only use plasma weapons. Let's change that.
Scroll down and find the [weap] group. Click the blue arrow in the dependency swapper to bring up the Tag editor. You will see a Weapon/User ability frame with a bunch of radio buttons. Change the AR's weapon type to Plasma rifle and the Pistol's weapon type to Plasma pistol. Also change the shotgun to Plasma pistol. Play around with these, the weapon will still work as normal, the only difference between selecting Plasma rifle and Plasma gun is how the reload-animation on the grunt will look like.
When you are done playing with the guns, go to the cyborg_mp biped and
swap the model with the grunt's model. Change Standing camera height (scroll down to bottom) to 0,38 and Crouching camera height to 0,28. Change jump-preferences as you like, defaults are fine.
FTP it to your xbox and play.