From 32c0cc01dcb856c44e61820f49d3e0ae309d38a4 Mon Sep 17 00:00:00 2001 From: Yecheng Shao Date: Wed, 17 Jul 2024 16:05:28 +0800 Subject: [PATCH] add urdf --- resources/robots/h1_2/README.md | 79 + resources/robots/h1_2/h1_2.png | Bin 0 -> 770756 bytes resources/robots/h1_2/h1_2.urdf | 1623 +++++++++++++++++ resources/robots/h1_2/h1_2.xml | 438 +++++ resources/robots/h1_2/h1_2_simplified.urdf | 1333 ++++++++++++++ .../robots/h1_2/meshes/L_hand_base_link.STL | Bin 0 -> 1448084 bytes .../h1_2/meshes/L_index_intermediate.STL | Bin 0 -> 329384 bytes .../robots/h1_2/meshes/L_index_proximal.STL | Bin 0 -> 407184 bytes .../h1_2/meshes/L_middle_intermediate.STL | Bin 0 -> 182684 bytes .../robots/h1_2/meshes/L_middle_proximal.STL | Bin 0 -> 407184 bytes .../h1_2/meshes/L_pinky_intermediate.STL | Bin 0 -> 413384 bytes .../robots/h1_2/meshes/L_pinky_proximal.STL | Bin 0 -> 407184 bytes .../h1_2/meshes/L_ring_intermediate.STL | Bin 0 -> 329484 bytes .../robots/h1_2/meshes/L_ring_proximal.STL | Bin 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100644 resources/robots/h1_2/scene.xml diff --git a/resources/robots/h1_2/README.md b/resources/robots/h1_2/README.md new file mode 100644 index 0000000..b9c139b --- /dev/null +++ b/resources/robots/h1_2/README.md @@ -0,0 +1,79 @@ +# Unitree H1 Description (URDF & MJCF) + +## Overview + +This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/). + +

+ +

+ +Unitree H1 have 51 DOFs: + +```text +root [⚓] => /pelvis/ + left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/ + left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/ + left_hip_roll_joint [⚙+X] => /left_hip_roll_link/ + left_knee_joint [⚙+Y] => /left_knee_link/ + left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/ + left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/ + right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/ + right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/ + right_hip_roll_joint [⚙+X] => /right_hip_roll_link/ + right_knee_joint [⚙+Y] => /right_knee_link/ + right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/ + right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/ + torso_joint [⚙+Z] => /torso_link/ + left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/ + left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/ + left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/ + left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/ + left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/ + left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/ + left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/ + L_base_link_joint [⚓] => /L_hand_base_link/ + L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/ + L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/ + L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/ + L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/ + L_index_proximal_joint [⚙-Z] => /L_index_proximal/ + L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/ + L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/ + L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/ + L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/ + L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/ + L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/ + L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/ + right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/ + right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/ + right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/ + right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/ + right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/ + right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/ + right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/ + R_base_link_joint [⚓] => /R_hand_base_link/ + R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/ + R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/ + R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/ + R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/ + R_index_proximal_joint [⚙+Z] => /R_index_proximal/ + R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/ + R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/ + R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/ + R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/ + R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/ + R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/ + R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/ +``` + +## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) + +1. Open MuJoCo Viewer + + ```bash + pip install mujoco + python -m mujoco.viewer + ``` + +2. 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