update STL and URDF

2024-01-19 17:14:47 +08:00 · 2024-01-19 17:14:47 +08:00 · 6acf8832d6
parent 773568af77
commit 6acf8832d6
36 changed files with 2865 additions and 0 deletions
--- a/robots/h1_description/README.md
+++ b/robots/h1_description/README.md
@ -5,6 +5,8 @@
 This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid
 Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).

+The file `urdf/h1.urdf` is description for H1 without hands, and `urdf/h1_with_hand.urdf` for H1 with hands.
+
 <p align="center">
  <img src="doc/H1.png" width="500"/>
 </p>
--- a/robots/h1_description/meshes/L_hand_base_link.STL
+++ b/robots/h1_description/meshes/L_hand_base_link.STL
--- a/robots/h1_description/meshes/Link11_L.STL
+++ b/robots/h1_description/meshes/Link11_L.STL
--- a/robots/h1_description/meshes/Link11_R.STL
+++ b/robots/h1_description/meshes/Link11_R.STL
--- a/robots/h1_description/meshes/Link12_L.STL
+++ b/robots/h1_description/meshes/Link12_L.STL
--- a/robots/h1_description/meshes/Link12_R.STL
+++ b/robots/h1_description/meshes/Link12_R.STL
--- a/robots/h1_description/meshes/Link13_L.STL
+++ b/robots/h1_description/meshes/Link13_L.STL
--- a/robots/h1_description/meshes/Link13_R.STL
+++ b/robots/h1_description/meshes/Link13_R.STL
--- a/robots/h1_description/meshes/Link14_L.STL
+++ b/robots/h1_description/meshes/Link14_L.STL
--- a/robots/h1_description/meshes/Link14_R.STL
+++ b/robots/h1_description/meshes/Link14_R.STL
--- a/robots/h1_description/meshes/Link15_L.STL
+++ b/robots/h1_description/meshes/Link15_L.STL
--- a/robots/h1_description/meshes/Link15_R.STL
+++ b/robots/h1_description/meshes/Link15_R.STL
--- a/robots/h1_description/meshes/Link16_L.STL
+++ b/robots/h1_description/meshes/Link16_L.STL
--- a/robots/h1_description/meshes/Link16_R.STL
+++ b/robots/h1_description/meshes/Link16_R.STL
--- a/robots/h1_description/meshes/Link17_L.STL
+++ b/robots/h1_description/meshes/Link17_L.STL
--- a/robots/h1_description/meshes/Link17_R.STL
+++ b/robots/h1_description/meshes/Link17_R.STL
--- a/robots/h1_description/meshes/Link18_L.STL
+++ b/robots/h1_description/meshes/Link18_L.STL
--- a/robots/h1_description/meshes/Link18_R.STL
+++ b/robots/h1_description/meshes/Link18_R.STL
--- a/robots/h1_description/meshes/Link19_L.STL
+++ b/robots/h1_description/meshes/Link19_L.STL
--- a/robots/h1_description/meshes/Link19_R.STL
+++ b/robots/h1_description/meshes/Link19_R.STL
--- a/robots/h1_description/meshes/Link20_L.STL
+++ b/robots/h1_description/meshes/Link20_L.STL
--- a/robots/h1_description/meshes/Link20_R.STL
+++ b/robots/h1_description/meshes/Link20_R.STL
--- a/robots/h1_description/meshes/Link21_L.STL
+++ b/robots/h1_description/meshes/Link21_L.STL
--- a/robots/h1_description/meshes/Link21_R.STL
+++ b/robots/h1_description/meshes/Link21_R.STL
--- a/robots/h1_description/meshes/Link22_L.STL
+++ b/robots/h1_description/meshes/Link22_L.STL
--- a/robots/h1_description/meshes/Link22_R.STL
+++ b/robots/h1_description/meshes/Link22_R.STL
--- a/robots/h1_description/meshes/R_hand_base_link.STL
+++ b/robots/h1_description/meshes/R_hand_base_link.STL
--- a/robots/h1_description/meshes/left_ankle_link.STL
+++ b/robots/h1_description/meshes/left_ankle_link.STL
--- a/robots/h1_description/meshes/left_elbow_link.STL
+++ b/robots/h1_description/meshes/left_elbow_link.STL
--- a/robots/h1_description/meshes/left_hand_link.STL
+++ b/robots/h1_description/meshes/left_hand_link.STL
--- a/robots/h1_description/meshes/logo_link_gray.dae
+++ b/robots/h1_description/meshes/logo_link_gray.dae
--- a/robots/h1_description/meshes/right_ankle_link.STL
+++ b/robots/h1_description/meshes/right_ankle_link.STL
--- a/robots/h1_description/meshes/right_elbow_link.STL
+++ b/robots/h1_description/meshes/right_elbow_link.STL
--- a/robots/h1_description/meshes/right_hand_link.STL
+++ b/robots/h1_description/meshes/right_hand_link.STL
--- a/robots/h1_description/meshes/torso_link.STL
+++ b/robots/h1_description/meshes/torso_link.STL
--- a/robots/h1_description/urdf/h1_with_hand.urdf
+++ b/robots/h1_description/urdf/h1_with_hand.urdf