57 lines
1.9 KiB
Markdown
57 lines
1.9 KiB
Markdown
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# 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 [H1 Humanoid
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Robot](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="doc/H1.png" width="500"/>
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</p>
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H1 Humanoid have 19 joints:
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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_roll_joint [⚙+X] => /left_hip_roll_link/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_joint [⚙+Y] => /left_ankle_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_joint [⚙+Y] => /right_ankle_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_joint [⚙+Y] => /left_elbow_link/
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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_joint [⚙+Y] => /right_elbow_link/
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```
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## Usages
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### [MuJoCo](https://github.com/google-deepmind/mujoco)(recommend)
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```bash
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pip install mujoco
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python -m mujoco.viewer --mjcf=mjcf/scene.xml
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```
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### RViz
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```bash
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roslaunch h1_description display.launch
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```
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### Gazebo
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```bash
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roslaunch h1_description gazebo.launch
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```
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