80 lines
5.0 KiB
Markdown
80 lines
5.0 KiB
Markdown
# Unitree H1 Description (URDF & MJCF)
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## Overview
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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/).
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<p align="center">
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<img src="h1_5.png" width="500"/>
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</p>
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Unitree H1 have 51 DOFs:
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```text
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root [⚓] => /pelvis/
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left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
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left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
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right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
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torso_joint [⚙+Z] => /torso_link/
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left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
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left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
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left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
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left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
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left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
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left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
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left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
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L_base_link_joint [⚓] => /L_hand_base_link/
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L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
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L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
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L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
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L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
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L_index_proximal_joint [⚙-Z] => /L_index_proximal/
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L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
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L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
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L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
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L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
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L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
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L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
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L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
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right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
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right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
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right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
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right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
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right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
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right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
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right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
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R_base_link_joint [⚓] => /R_hand_base_link/
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R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
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R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
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R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
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R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
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R_index_proximal_joint [⚙+Z] => /R_index_proximal/
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R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
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R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
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R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
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R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
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R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
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R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
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R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
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```
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## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
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1. Open MuJoCo Viewer
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```bash
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pip install mujoco
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python -m mujoco.viewer
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```
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2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
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