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clean doc of h1_2

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matheecs 2024-10-14 12:01:08 +08:00
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robots/h1_2_description/README.md
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@ -8,65 +8,6 @@ This package includes a universal humanoid robot description (URDF & MJCF) for t
<img src="h1_2.png" width="500"/>
</p>
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_joint [⚙+Y] => /left_elbow_link/
left_wrist_roll_joint [⚙+X] => /left_wrist_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_joint [⚙+Y] => /right_elbow_link/
right_wrist_roll_joint [⚙+X] => /right_wrist_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