From 809c5f8fdcea8051a086f4544d7e7465ac35e2c9 Mon Sep 17 00:00:00 2001 From: matheecs Date: Mon, 14 Oct 2024 12:01:08 +0800 Subject: [PATCH] clean doc of h1_2 --- robots/h1_2_description/README.md | 59 ------------------------------- 1 file changed, 59 deletions(-) diff --git a/robots/h1_2_description/README.md b/robots/h1_2_description/README.md index 55ec0c5..adf41fc 100644 --- a/robots/h1_2_description/README.md +++ b/robots/h1_2_description/README.md @@ -8,65 +8,6 @@ This package includes a universal humanoid robot description (URDF & MJCF) for t

-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